1. Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling
- Author
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A De Acutis, Nicola M. Pugno, A Bau, Antonio Bicchi, Vinicio Tincani, L Calabrese, and Danilo De Rossi
- Subjects
soft robotics ,0209 industrial biotechnology ,Field (physics) ,Computer science ,object transportation ,Mechanical engineering ,02 engineering and technology ,Transduction (psychology) ,Computer Science::Robotics ,dielectric elastomer actuator, object transportation, soft platform, soft robotics ,soft platform ,020901 industrial engineering & automation ,General Materials Science ,Electrical and Electronic Engineering ,dielectric elastomer actuator ,Civil and Structural Engineering ,Modular unit ,021001 nanoscience & nanotechnology ,Condensed Matter Physics ,Object (computer science) ,Atomic and Molecular Physics, and Optics ,Computer Science::Other ,Contact mechanics ,Mechanics of Materials ,Proof of concept ,Signal Processing ,Mechanics of planar particle motion ,0210 nano-technology ,Actuator - Abstract
In this article we present an upgraded design of the existing push–pull hydrostatically coupled dielectric elastomer actuator (HC-DEA) for use in the field of soft manipulators. The new design has segmented electrodes, which stand as four independent elements on the active membrane of the actuator. When properly operated, the actuator can generate both out of plane and in-plane motions resulting in a multi-degrees of freedom soft actuator able to exert both normal pushes (like a traditional HC-DEA) and tangential thrusts. This novel design makes the actuator suitable for delicate flat object transportation. In order to use the actuator in soft systems, we experimentally characterized its electromechanical transduction and modeled its contact mechanics. Finally, we show that the proposed actuator can be employed as a modular unit to develop active surfaces for flat object roto-translation.
- Published
- 2018