A Soft End Effector Inspired by Cephalopod Suckers and Augmented by a Dielectric Elastomer Actuator
A Soft End Effector Inspired by Cephalopod Suckers and Augmented by a Dielectric Elastomer Actuator
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DOI：
10.1089/soro.2018.0059
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发表时间：
2019-06-01
期刊：
影响因子：
7.9
通讯作者：
Mohseni, Kamran
中科院分区：
文献类型：
--
作者：
Sholl, Nick;Moss, Austin;Mohseni, Kamran
本文介绍了一种软吸盘末端执行器与鱿鱼启发吸力生成和章鱼启发杯设计，使用介电弹性体致动器（DEA），以产生吸力的粘附。详细描述了末端执行器的制造过程，并提出了作为电压的函数的所产生的压差的力学模型。当致动时，DEA在末端执行器的壁上施加静电应力，导致其充水腔中的压力降低。致动器柔软，灵活，并产生吸力，而不依赖于典型的DEA元素，如刚性支撑结构和弹性体预应变。它不需要从吸盘流出的净流体流量，允许更快的附着和更容易的释放。它可以在水下驱动，并已通过拉脱试验验证。当在水中以10.75 kV驱动时，吸盘产生3.63 +/- 0.07 kPa（+/- SD）的压差，当在其理论故障点12.4 kV通电时，应达到4.90 kPa压差。由输入电压归一化的数据表明，90%的最大压差可以在50 ms的电压应用内实现。该弹性体末端执行器在空气中的重量小于30 g，能够以8.34 +/- 0.10 N（+/- SD）的力拉动，并在10.75 kV下驱动时在水下可逆提升其自身质量的26.7倍。
This article describes a soft suction cup end effector with squid-inspired suction generation and an octopus-inspired cup design that uses a dielectric elastomer actuator (DEA) to generate suction for adhesion. The fabrication process for the end effector is described in detail, and a mechanical model for generated pressure differential as a function of voltage is presented. When actuated, the DEA exerts an electrostatic stress on the walls of the end effector, resulting in pressure reduction in its water-filled cavity. The actuator is soft, flexible, and creates suction without a reliance on typical DEA elements such as rigid supporting structures and elastomer prestrain. It does not require net fluid flux out of the sucker, allowing faster attachment and easier release. It can be actuated underwater and has been validated with pull-off tests. The sucker generates a pressure differential of 3.63 +/- 0.07 kPa (+/- SD) when driven at 10.75 kV in water and should reach a 4.90 kPa pressure differential when energized at its theoretical failure point of 12.4 kV. Data normalized by the input voltage show that 90% of the maximum pressure differential can be achieved within 50 ms of voltage application. Weighing less than 30 g in air, this elastomer end effector is capable of pulling with a force of 8.34 +/- 0.10 N (+/- SD) and reversibly lifting 26.7 times its own mass underwater when actuated at 10.75 kV.