Dielectric elastomer fingers for versatile grasping and nimble pinching
Boneless soft robotic fingers cannot apply concentrated forces to pinch a delicate object. This letter reports a three-dimensional design of dielectric elastomer fingers with higher flexural stiffness and close to 90° voltage-controllable bending for object gripping and pinching. It makes use of ten...
محفوظ في:
| المؤلفون الرئيسيون: | , , , |
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| مؤلفون آخرون: | |
| التنسيق: | مقال |
| اللغة: | English |
| منشور في: |
2017
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://hdl.handle.net/10356/83353 http://hdl.handle.net/10220/42565 |
| الوسوم: |
إضافة وسم
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| المؤسسة: | Nanyang Technological University |
| اللغة: | English |
| الملخص: | Boneless soft robotic fingers cannot apply concentrated forces to pinch a delicate object. This letter reports a three-dimensional design of dielectric elastomer fingers with higher flexural stiffness and close to 90° voltage-controllable bending for object gripping and pinching. It makes use of tension arch flexures to elevate a pre-stretched dielectric elastomer actuator (DEA) into a roof shape and thus magnifies the tension-induced moment, 40 times higher than a flat DEA does, to bend a stiff base frame. Such fingers make normally close-grippers to lift a payload 8–9 times their weight. They also make normally open grippers that pinch a highly deformable raw egg yolk. |
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