Subproject 7: Modeling and metrological investigation of structurally integrated actuator sensor systems based on alternative electroactive polymers using electromechanical substitute models
Table of contents
Motivation
By use of dielectric elasomer actuators (DEA), fiber elastomer composites can be actively deformed. The integration of sensors in these composite structures allows the simultaneous detection of deformation behavior. These types of actuator-sensor systems are suitable for the manufacturing of adaptive and interactive soft robotics components, for example for soft robot grippers or bionic robots. The actuator-sensor systems that have so far been developed in SP 7 consist of silicon-based DEA and sensors for one-dimensional deformation detection. These efforts shall be continued in this subproject by creating actuator-sensor systems that can generate as well as detect three-dimensional deformation.
State of the art and preliminary research
Silicone and acrylic based DEA have an enormous application potential for highly sensitive gripping applications [1], linear actuators [2], pneumatic valves [3] and fluid pumps [4]. The approach developed within the 1st RTG cohort involved a textile reinforcement of the actuator structure by which a mechanically anisotropic behavior was achieved [5, 6]. Additionally, a resistive strain sensor was developed [7] that enables the monitoring of elastic deformation. A simple electromechanical network model for planar deformations was also presented based on which essential properties of the overall system can be identified. However, there is still a need for research regarding the development of adaptive systems that combine actuator and sensor systems as well as textile-technological reinforcements. Corresponding electro-mechanical network models must also be developed for these systems so that they can be easily used in overall system models for the targeted control of motion behavior.
Scientific questions and project objectives
Polyurethane-based dielectric elastomer actuator [8]
Due to their high dielectricity constant compared to conventional materials, alternative electroactive polymers, such as polyurethane, chloroprene, nitrile butadiene, rubber or hydrogels, offer numerous advantages. Therefore, this subproject will focus on developing DEA based actuator-sensor systems made of unconventional polymers, which will result in an improved actuating effect when compared to silicone based DEA. By means of innovative constructive approaches and integrated sensors, the three-dimensional state of deformation of I-FRC will be precisely detected. Another focus will be on the development of construction elements with auxetic behavior, i.e. depending on the direction, a negative lateral contraction behavior will be achieved, which can in turn be utilized for simple three-dimensional deformations. Additionally, in this subproject, the further development of suitable mechanical-electric network models including their metrological characterization will be addressed.
References
| [1] | Shintake, J.; Schubert, B.; Rosset, S.; Shea, H.; Floreano, D.: Variable stiffness actuator for soft robotics using dielectric elastomer and low-melting-point alloy. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, (Deutschland), 28.09.-02.10.2015, 1097-1102. |
| [2] | Zhao, H.; Hussain, A. M.; Duduta, M.; Vogt, D. M.; Wood, R. J.; Clarke, D. R.: Compact Dielectric Elastomer Linear Actuators. Advanced Functional Materials 28 (2018), 1804328. |
| [3] |
Giousouf, M.; Kovacs, G.: Dielectric elastomer actuators used for pneumatic valve technology. Smart Materials and Structures 22 (2013), 104010. |
| [4] | Li, Z.; Zhu, J.; Foo, C. C.; Yap, C. H.: A robust dual-membrane dielectric elastomer actuator for large volume fluid pumping via snap-through. Applied Physics Letters 111(2017), 212901. |
| [5] |
Mersch, J.; Pfeil, S.; Lohse, F.; Probst, H.; Cherif, C.; Gerlach, G.: Textile-amplified dielectric elastomer actuators for soft robotics. 19th World Textile Conference on Textiles at the Crossroads AUTEX 2019, Ghent (Belgien), 11.-15.06.2019. |
| [6] | Pfeil, S.; Katzer, K.; Kanan, A.; Mersch, J.; Zimmermann, M.; Kaliske, M.; Gerlach, G.: A biomimetic fish fin-like robot based on textile reinforced silicone. Micromachines 11 (2020), 298. |
| [7] | Mersch, J.; Winger, H; Nocke, A.; Cherif, C.; Gerlach, G.: Experimental investigation and modeling of the dynamic resistance response of carbon particle-filled polymers. Macromolecular Materials and Engineering 305 (2020), 2000361. |
| [8] | Liebscher, H.; Tahir, M.; Wießner, S.; Gerlach, G.: Development, operation, and modeling of a polyurethane-based dielectric elastomer actuator. In: EuroEAP2021 - International Conference on Electromechanically Active Polymer (EAP) Transducers & Artificial Muscles, Technical Programme, Book of Abstracts, 1-3 June 2021, 19. |
Contact
Institute of Solid State Electronics (IFE), Faculty of Electro and Computer Engineering at TU Dresden
© IFE/TUD
Mr Prof. Dr.-Ing. habil. Gerald Gerlach
Institutsdirektor
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