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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Design and Analysis of a High-performance Flexible Joint Actuator Based on the Peano-HASEL Actuator


    Additional title:

    Lect.Notes Computer


    Contributors:
    Yang, Huayong (editor) / Liu, Honghai (editor) / Zou, Jun (editor) / Yin, Zhouping (editor) / Liu, Lianqing (editor) / Yang, Geng (editor) / Ouyang, Xiaoping (editor) / Wang, Zhiyong (editor) / Sun, Wenjie (author) / Liang, Huwei (author)

    Conference:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Publication date :

    2023-10-16


    Size :

    12 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English






    HASEL actuators for underwater robots

    Milward Cooney, Robin / Hesam, Masoumeh / Anderson, Iain A. | SPIE | 2025


    Novel hasel-driven series robot

    HUANG WENKAI / HE ZIJIAN / XIAO ENDONG et al. | European Patent Office | 2022

    Free access

    Soft driving structure based on HASEL

    YANG GENG / DAI HUAIXUAN / ZHANG CHAO et al. | European Patent Office | 2023

    Free access