Affiliation:
1. Pen-Tung Sah Institute of Micro-Nano Science and Technology, Xiamen University 1 , Xiamen 361102, China
2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University 2 , Zhejiang 310058, China
Abstract
Peano-HASEL (hydraulic amplified self-healing electrostatic) actuators represent a recent advancement in the field of muscle-like soft actuators. They typically consist of flexible electrodes, a flexible and inextensible shell, and liquid dielectric. However, Peano-HASEL actuators employing flexible electrodes can only utilize the electrostatic force generated by a limited area of electrodes to maintain compression of the liquid, resulting in a restricted strain and force outputs. In this Letter, we show that a Peano-HASEL actuator employing rigid electrodes exhibits a significantly enhanced strain and force output. Compared to the conventional flexible-electrode Peano-HASEL actuator, the actuator with rigid electrodes demonstrates a remarkable improvement, with a more than 200% increase in strain output and a more than 140% increase in force output. Notably, we successfully showcase the capability of a Peano-HASEL actuator with rigid electrodes to reliably lift a 50 g load at an 8 kV voltage, a task that the counterpart with flexible electrodes of the same electrode length, width, and oil volume fails to accomplish. This highlights the great potential of rigid-electrode Peano-HASEL actuators for applications such as robotic manipulation.
Funder
National Natural Science Foundation of China
Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems
Natural Science Foundation of Fujian Province
Subject
Physics and Astronomy (miscellaneous)