Soft robotic tentacle arm element actuated by rolled dielectric elastomer artificial muscles

Matthias Baltes; Julian Kunze; Johannes Prechtl; Paul Motzki; Stefan Seelecke; Gianluca Rizzzello

doi:10.1117/12.2612516

20 April 2022 Soft robotic tentacle arm element actuated by rolled dielectric elastomer artificial muscles

Matthias Baltes, Julian Kunze, Johannes Prechtl, Paul Motzki, Stefan Seelecke, Gianluca Rizzzello

Proceedings Volume 12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV; 1204207 (2022) https://doi.org/10.1117/12.2612516
Event: SPIE Smart Structures + Nondestructive Evaluation, 2022, Long Beach, California, United States

Abstract

Due to their suitability for human-robot interactions the importance of soft robots is increasing in the last years. In this paper, a Soft Robotic tentacle arm element actuated by rolled dielectric elastomer actuators (RDEAs) is presented. A 2D-bending-element has been developed which consists of a central vertical flexible beam and two rigid horizontal platforms onto which two antagonistic RDEA are connected. By exploiting the buckling instability of the beam, high angular deflections can be achieved. We consider this combination of a buckling beam and antagonistic RDEAs an important step towards realizing the full potential of DEAs as artificial muscles.

Conference Presentation

Citation Download Citation

Matthias Baltes, Julian Kunze, Johannes Prechtl, Paul Motzki, Stefan Seelecke, and Gianluca Rizzzello "Soft robotic tentacle arm element actuated by rolled dielectric elastomer artificial muscles", Proc. SPIE 12042, Electroactive Polymer Actuators and Devices (EAPAD) XXIV, 1204207 (20 April 2022); https://doi.org/10.1117/12.2612516

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