Rapid 3D Printing of Electrohydraulic (HASEL) Tentacle Actuators
Rapid 3D Printing of Electrohydraulic (HASEL) Tentacle Actuators
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DOI：
10.1002/adfm.202005244
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发表时间：
2020-08-18
影响因子：
19
通讯作者：
Shepherd, Robert F.
中科院分区：
文献类型：
--
作者：
O'Neill, Maura R.;Acome, Eric;Shepherd, Robert F.
介绍了一种用于电液触须执行器增材制造的综合材料系统。该材料系统由光固化弹性硅-聚氨酯组成，具有相对较强的介电性能（epsilon(r)在1khz近似为8.8），结合离子导电水凝胶和银漆电极，在电场的作用下取代植物基液体介电体。研究了有机硅材料的电子性能以及本构有机硅和水凝胶材料的力学性能。为了表征电容式作动器的准静态特性，测量了施加在介质工作流体上的液压压力。3D打印实现的各种设计特性会影响这种行为——降低驱动开始时的电压或增加系统中的力密度。在通电时，整个致动器的电容变化为50 - 35%，展示了HASELs固有的自传感。3D打印致动器的拮抗对显示出超过400 mN的阻挡力。然后制作了一个电液触须致动器，以演示该材料和致动系统在合成静水器中的使用。该触须驱动器可以在多维空间中实现运动。
A comprehensive material system is introduced for the additive manufacturing of electrohydraulic (HASEL) tentacle actuators. This material system consists of a photo-curable, elastomeric silicone-urethane with relatively strong dielectric properties (epsilon(r) approximate to 8.8 at 1 kHz) in combination with ionically-conductive hydrogel and silver paint electrodes that displace a vegetable-based liquid dielectric under the application of an electric field. The electronic properties of the silicone material as well as the mechanical properties of the constitutive silicone and hydrogel materials are investigated. The hydraulic pressure exerted on the dielectric working fluid in these capacitive actuators is measured in order to characterize their quasi-static behavior. Various design features enabled by 3D printing influence this behavior-decreasing the voltage at which actuation begins or increasing the force density in the system. Using a capacitance change of >35% across the actuators while powered, a demonstration of self-sensing inherent to HASELs is shown. Antagonistic pairs of the 3D printed actuators are shown to exert a blocked force of over 400 mN. An electrohydraulic tentacle actuator is then fabricated to demonstrate the use of this material and actuation system in a synthetic hydrostat. This tentacle actuator is shown to achieve motion in a multi-dimensional space.