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...
Saved in:
| Main Authors: | , , , |
|---|---|
| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
2017
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/83353 http://hdl.handle.net/10220/42565 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | 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. |
|---|