1 Department of Mechanical and Aerospace Engineering, University of Florida, Gainesville, Florida.
2 Institute for Networked Autonomous Systems, University of Florida, Gainesville, Florida.
Soft Robot. 2019 Jun;6(3):356-367. doi: 10.1089/soro.2018.0059. Epub 2019 Mar 8.
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.
本文描述了一种具有鱿鱼启发式吸力产生和章鱼启发式杯设计的软吸盘末端执行器，它使用介电弹性体致动器（DEA）产生吸力以实现粘附。详细描述了末端执行器的制造过程，并提出了作为电压函数的产生压差的机械模型。当致动时，DEA 对末端执行器的壁施加静电应力，导致其充满水的腔室中的压力降低。致动器柔软、灵活，无需典型的 DEA 元件（如刚性支撑结构和弹性体预拉伸）即可产生吸力。它不需要从吸盘中流出净流体通量，从而可以更快地附着和更容易释放。它可以在水下致动，并已通过拉脱测试进行了验证。当在水中以 10.75 kV 驱动时，吸盘产生 3.63 ± 0.07 kPa（±SD）的压差，当在其理论失效点 12.4 kV 通电时，应达到 4.90 kPa 的压差。通过输入电压归一化的数据表明，在施加电压后的 50 毫秒内，可以达到最大压差的 90%。这种重量小于 30 克的弹性体末端执行器在空气中能够以 8.34 ± 0.10 N（±SD）的力拉动，并在以 10.75 kV 通电时在水下可逆地提升其自身质量的 26.7 倍。
