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A Unidirectional Soft Dielectric Elastomer Actuator Enabled by Built-In Honeycomb Metastructures

机译：内置蜂窝元结构实现的单向软介电弹性体执行器

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摘要

Dielectric elastomer actuators (DEAs) are able to undergo large deformation in response to external electric stimuli and have been widely used to drive soft robotic systems, due to their advantageous attributes comparable to biological muscles. However, due to their isotropic material properties, it has been challenging to generate programmable actuation, e.g., along a predefined direction. In this paper, we provide an innovative solution to this problem by harnessing honeycomb metastructures to program the mechanical behavior of dielectric elastomers. The honeycomb metastructures not only provide mechanical prestretches for DEAs but, more importantly, transfer the areal expansion of DEAs into directional deformation, by virtue of the inherent anisotropy. To achieve uniaxial actuation and maximize its magnitude, we develop a finite element analysis model and study how the prestretch ratios and the honeycomb structuring tailor the voltage-induced deformation. We also provide an easy-to-implement and scalable fabrication solution by directly printing honeycomb lattices made of thermoplastic polyurethane on dielectric membranes with natural bonding. The preliminary experiments demonstrate that our designed DEA is able to undergo unidirectional motion, with the nominal strain reaching up to 15.8%. Our work represents an initial step to program deformation of DEAs with metastructures.
机译：介电弹性体致动器（DEA）能够响应外部电刺激而发生较大的变形，并且由于其与生物肌肉相当的优势而被广泛用于驱动软机器人系统。然而，由于其各向同性的材料特性，例如沿预定方向产生可编程致动已经具有挑战性。在本文中，我们通过利用蜂窝元结构来编程介电弹性体的机械性能，为这一问题提供了创新的解决方案。蜂窝状的元结构不仅为DEA提供了机械预拉伸，而且更重要的是，凭借固有的各向异性，将DEA的面扩展转换为定向变形。为了实现单轴驱动并最大程度地发挥作用，我们开发了一个有限元分析模型，并研究了预拉伸比和蜂窝结构如何调整电压引起的变形。我们还通过自然粘合直接在绝缘膜上印刷由热塑性聚氨酯制成的蜂窝状格子，从而提供了易于实施和可扩展的制造解决方案。初步实验表明，我们设计的DEA能够进行单向运动，名义应变高达15.8％。我们的工作代表了对具有元结构的DEA变形进行编程的第一步。

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