An Easy-to-Implement Toolkit to Create Versatile and High-Performance HASEL Actuators for Untethered Soft Robots
An Easy-to-Implement Toolkit to Create Versatile and High-Performance HASEL Actuators for Untethered Soft Robots
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DOI：
10.1002/advs.201900178
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发表时间：
2019-07-17
期刊：
影响因子：
15.1
通讯作者：
Keplinger, Christoph
中科院分区：
文献类型：
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作者：
Mitchell, Shane K.;Wang, Xingrui;Keplinger, Christoph
对于软机器人来说，在实际应用中无处不在，它们需要软致动器，其提供与自然肌肉平行的全面致动性能，同时价格低廉且易于制造。本文介绍了一个工具包，用于快速原型化，制造，测试和驱动液压放大自愈静电（HASEL）致动器的各种设计，具有肌肉般的性能，实现所有三种基本致动模式（膨胀，收缩和旋转）。该工具包利用易于实施的方法、廉价的制造工具、商品材料和现成的高压电子器件，从而使广大受众能够探索HASEL技术。值得注意的是，从这个易于实施的工具包创建的致动器实现超过100%的线性应变，大于150 W kg（-1）的比功率，以及在100 Hz以上的频率下接近20%的应变。这种大应变、极高速度和高比功率的组合产生了软致动器，该致动器在没有功率放大机制的情况下跳跃。此外，一个有效的制造技术介绍了模块化设计的HASEL致动器，这是用来开发由便携式电子驱动的软机器人设备。受象鼻多功能性的启发，上述功能相结合，创造了一个不受约束的连续体机器人，用于抓取和操纵精致的物体，突出了软机器人引入方法的广泛潜力。
For soft robots to have ubiquitous adoption in practical applications they require soft actuators that provide well-rounded actuation performance that parallels natural muscle while being inexpensive and easily fabricated. This manuscript introduces a toolkit to rapidly prototype, manufacture, test, and power various designs of hydraulically amplified self-healing electrostatic (HASEL) actuators with muscle-like performance that achieve all three basic modes of actuation (expansion, contraction, and rotation). This toolkit utilizes easy-to-implement methods, inexpensive fabrication tools, commodity materials, and off-the-shelf high-voltage electronics thereby enabling a wide audience to explore HASEL technology. Remarkably, the actuators created from this easy-to-implement toolkit achieve linear strains exceeding 100%, a specific power greater than 150 W kg(-1), and approximate to 20% strain at frequencies above 100 Hz. This combination of large strain, extreme speed, and high specific power yields soft actuators that jump without power-amplifying mechanisms. Additionally, an efficient fabrication technique is introduced for modular designs of HASEL actuators, which is used to develop soft robotic devices driven by portable electronics. Inspired by the versatility of elephant trunks, the above capabilities are combined to create an untethered continuum robot for grasping and manipulating delicate objects, highlighting the wide potential of the introduced methods for soft robots with increasing sophistication.