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Dielectric elastomer actuators (DEAs) offer robust, high-energy-density solutions for soft robotics. The proposed end effector consists of three spring roll configuration DEAs, each acting as a robotic finger, using a 3M VHB-F9473PC adhesive membrane. Spring roll DEAs can be designed to achieve highly specialised actuations depending on the electrode patterning and structural supports. This allows a spring roll DEA-based soft end effector to be tailor-made by simply altering the electrode patterning. The lateral force, bending angle and response time of the actuator are measured experimentally and compared with the predictions of an analytical model. The cylindrical actuator measures 70 mm in length and 15 mm in diameter and achieves a lateral force of 30 mN, a bending angle of 6.8° and a response time of ≈ 1 s. Spring roll configuration DEAs are shown to reduce the effects of viscoelasticity seen in the membrane, making the actuator more controllable at higher voltages. The dielectric constant of the membrane is shown to be a limiting factor of actuation, with a decrease in dielectric constant resulting in larger actuation. The end effector successfully grips numerous light objects for extended periods, showing the applicability of spring roll DEAs for soft end effectors. [ABSTRACT FROM AUTHOR]

The maglev planar motor is one of the most promising industrial applications. The planar motor can increase flexibility in modern manufacturing with the multidirectional motion of the mover. In levitation control, the decoupling matrix is used to decouple the strong cross-coupling effect. The Lorentz force-based wrench matrices can be precomputed and stored in the lookup table. However, the motion range is restricted by the data range. This paper presents a wrench–current decoupling strategy to extend the use of small lookup data for long-range planar motion. The horizontal data range is 40 mm by 40 mm, which is determined from the minimally repetitive area of the planar coil array. The quadrant symmetry transformation is used to estimate the data for other areas. The experiment results demonstrated the accomplishment of the developed technique for long-range motion with a maximum motion stroke of 380 mm. The disc-magnet movers can levitate with a large air gap of 30 mm and have a total roll and pitch rotation range of 20 degrees. [ABSTRACT FROM AUTHOR]

Dielectric elastomer actuators (DEAs) offer robust, high-energy-density solutions for soft robotics. The proposed end effector consists of three spring roll configuration DEAs, each acting as a robotic finger, using a 3M VHB-F9473PC adhesive membrane. Spring roll DEAs can be designed to achieve highly specialised actuations depending on the electrode patterning and structural supports. This allows a spring roll DEA-based soft end effector to be tailor-made by simply altering the electrode patterning. The lateral force, bending angle and response time of the actuator are measured experimentally and compared with the predictions of an analytical model. The cylindrical actuator measures 70 mm in length and 15 mm in diameter and achieves a lateral force of 30 mN, a bending angle of 6.8° and a response time of ≈1 s. Spring roll configuration DEAs are shown to reduce the effects of viscoelasticity seen in the membrane, making the actuator more controllable at higher voltages. The dielectric constant of the membrane is shown to be a limiting factor of actuation, with a decrease in dielectric constant resulting in larger actuation. The end effector successfully grips numerous light objects for extended periods, showing the applicability of spring roll DEAs for soft end effectors.

The maglev planar motor is one of the most promising industrial applications. The planar motor can increase flexibility in modern manufacturing with the multidirectional motion of the mover. In levitation control, the decoupling matrix is used to decouple the strong cross-coupling effect. The Lorentz force-based wrench matrices can be precomputed and stored in the lookup table. However, the motion range is restricted by the data range. This paper presents a wrench–current decoupling strategy to extend the use of small lookup data for long-range planar motion. The horizontal data range is 40 mm by 40 mm, which is determined from the minimally repetitive area of the planar coil array. The quadrant symmetry transformation is used to estimate the data for other areas. The experiment results demonstrated the accomplishment of the developed technique for long-range motion with a maximum motion stroke of 380 mm. The disc-magnet movers can levitate with a large air gap of 30 mm and have a total roll and pitch rotation range of 20 degrees.