The Peano-HASEL actuator, which relies on the fluidic conductivity and hydraulic amplification of a liquid dielectric, not only fundamentally addresses the issue of electrical breakdown failure in electrically driven soft actuators but can also generate significant contraction forces. As a result, this type of actuator holds tremendous potential for use in a wide range of applications in fields such as flexible robotic grippers, biomimetic actuators, and artificial muscles. However, using inextensible flexible shells limits the strain that can be generated by the Peano-HASEL actuator to around 30%. To overcome this shortcoming, this paper introduces a flexible bistable beam and combines it with the operating principle of the Peano-HASEL actuator to realize a flexible joint actuator with superior performance characteristics to standard Peano-HASEL actuators. The experimental work undertaken here analyzes the influence of the volume of the liquid dielectric on the performance of the Peano-HASEL actuator unit. It also investigates the effects of different electrode materials, the position of the actuator unit, and the spacing between rigid element on either side of the hinge on the performance of the actuator. Furthermore, this work explores the correlation between the size of the flexible bistable beam and the improvement in the performance of the flexible joint actuator. The developments presented in this study provide a practical method to improve the design of Peano-HASEL actuators as well as essential insights for further research into related actuator design and applications.
Design and Analysis of a High-performance Flexible Joint Actuator Based on the Peano-HASEL Actuator
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
2023-10-16
12 pages
Article/Chapter (Book)
Electronic Resource
English
Peano-HASEL Actuator , Bistable Beam , Snap-through Instability , Performance Enhancement Computer Science , Artificial Intelligence , Software Engineering/Programming and Operating Systems , Computer Applications , User Interfaces and Human Computer Interaction , Computer Communication Networks , Special Purpose and Application-Based Systems
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