Dynamics Of Electro-hydraulic Soft Drives

The applied voltage and the corresponding force output in four test cycles can be seen in Figure 10A. As shown in Figure 10B, BOPP consumes 66.4 mJ at retention of 10 s, while Mylar consumes 14.3 mJ at the same winery. The DC motor drive system does not require additional power to maintain its position, but only through the use of additional transmission components. Known for a capture status, this property is typical of electrostatic actuator systems.

The Keplinger Research Group of the Faculty of Engineering and Applied Sciences has developed a new class of soft and electrically activated devices that can mimic the expansion and contraction of natural muscles. These devices are made from a wide variety of inexpensive materials and can feel their movements themselves and heal themselves from electrical damage, which represents a major advance in soft robotics. The tip of the finger pinches the power through original and personalized prosthetic finger designs and Peano-HASEL actuators BOPP and Mylar batteries. The original finger provides a high squeezing force that decreases rapidly, without providing a squeezing force of more than 30 °.

The terms “transducer” and “actuator” are used interchangeably by the current disclosure. Soft actuators have open paths for robot design that excel in unstructured environments. Electrohydraulic soft drives are liquid-filled shells that deform by electrostatic forces. This working principle offers great design freedom and actuator performance haptics that match the natural muscle. However, the fundamental physics that controls the dynamics of electrohydraulic soft drives is practically unexplored. Here we show how the scale, geometry and material system of the actuators, as well as external applied loads and voltages, lead to activation speeds covering multiple orders of magnitude.

We use the Peano-HASEL actuator as a model system for electro-hydraulic soft drives, because the rectangular geometry simplifies modeling and interpretation of experimental results. Electrohydraulic soft drives combine the operating principles of dielectric elastomer actuators and liquid-powered soft drives, but their dynamic behavior differs from both technologies. DEA dynamics, however, are determined by elastic effects (22 Ė 教 (27), while elasticity plays only a minor role in many electro-hydraulic soft actuator designs . A working fluid stimulates the shape change of liquid and electrohydraulic soft drives . However, for soft liquid-activated actuators, External pumps control the fluid flow and flow resistance of channels between pumps and actuators generally control their working speed (28 ½ – 30) which limits the operating frequencies to ▼ 1 Hz when the working fluid is liquid .

When designed to operate in inertial mode, electro-hydraulic soft drives can reach higher operating speeds than is normally possible with other types of soft drives. High speed electrohydraulic soft drives can enable biologically inspired robots for applications that require fast work, such as running, jumping and flying. HIGAS 7A and 7B illustrate an HS-Peano-HASEL 700 actuator with 702 electrodes in the center of cells 704 (p. E.g., the inverse of the electrode designs as shown in FIGS. 1A-1E).

In addition to serving as a hydraulic fluid that allows for versatile movements, the use of a liquid insulation layer allows HASEL actuators to heal themselves for electrical damage. Other high-voltage controlled soft drives, also known as dielectric elastomer actuators, use a solid insulation layer that fails catastrophically due to electrical damage. In contrast, the liquid insulation layer of HASEL actuators immediately restores its insulating properties after electrical damage. HIGAS 8A-8D illustrates new changes in electrode design to change the performance of HS-Peano-HASEL actuators. In this way, the 800 actuator, in turn, shows features of the standard Peano-HASEL and HS-Peano-HASEL actuators.

A deformation axis is defined in a second dimension along which the deformable housing is deformed after applying a voltage to the first and second electrodes, in which the first dimension of the zipper front is orthogonal to the second dimension of the deformation axis. In this case, the mechanical advantage is determined by the inverse of the slope of the PIP node angle relative to the MCP node angle as shown in . The mechanical advantage corresponds to the torque ratio around the PIP connection to connect around the MCP connection . Power production for Peano-HASEL actuators as predicted by the analytical model (Kellaris et al., 2019), normalized by the theoretical blocking force of the actuator. The mechanical advantage of the kinematic finger system translates the strength of the Peano-HASEL actuator to the fingertip, resulting in the squeezing force of the intended fingertip . Diagram of a Peano-HASEL actuator that shows the basic structure and operating principles.

Our analysis showed how the actuator’s geometry and material system and the applied load and voltage affect the speed of action. 5 can be used to determine the dynamic Peano-HASEL actuators regimen with specific sets of parameters and to estimate their characteristic transition times. The theoretical model in this document simplified the geometry of the actuators, as well as the flow of the liquid dielectric in the housing; enabled a qualitative analysis of how individual parameters affect the dynamics of Peano-HASEL actuators. A HASEL actuator consists of a flexible polymer housing that is coated with flexible electrodes and filled with a liquid dielectric (Fig. 1A).

For example, when voltage is applied to electrodes 812, the dielectric fluid within the 800 actuator moves away from those areas covered by the 812 electrodes in spaces 814. By adjusting the shapes and dimensions of the electrodes and adapting the ratio of areas covered with electrodes to 814 spaces, the compression forces F can be adjusted. In addition, the 800 actuator can achieve higher voltage at low loads (similar to the HS-Peano-HASEL actuators described above), while maintaining a high blocking force (such as existing Peano-HASEL actuators described in built-in applications). This disclosure refers in particular to HASEL actuators known as high-voltage Peano actuators or HS-Peano-HASEL actuators. Actuators include a deformable housing that defines a closed internal cavity and a liquid dielectric in the closed internal cavity. The actuator contains a first electrode arranged on one side of the closed internal cavity and a second electrode mounted on one side of the closed internal cavity.

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