A Super-Lightweight and Soft Manipulator Driven by Dielectric Elastomers

Area of Science:

• Robotics
• Materials Science
• Actuation Systems

Background:

• Robot weight is a critical factor in applications like space and untethered mobile manipulation.
• Existing robotic manipulators can be too heavy for weight-sensitive tasks.

Purpose of the Study:

• To design and develop a super lightweight robotic manipulator.
• To demonstrate large, continuous deformation capabilities in a compact robotic arm.

Main Methods:

• Designed a five-module, unilaterally bending serial manipulator (32 cm length, 18 g weight).
• Utilized dielectric elastomer actuators (DEAs) for driving the manipulator modules.
• Employed a spatially closed tubular structure within each module for large deformation and torsional rigidity.
• Implemented independent, multichannel high-voltage power supply for continuous global deformation control.
• Based the design on the principles of column buckling.

Main Results:

• The manipulator achieved a weight of only 18 g and a length of 32 cm.
• Demonstrated the ability to undergo large, continuous deformations.
• Successfully navigated an L-shaped pipe, showcasing its dexterity.
• Validated the feasibility of using spatial DEAs for super lightweight robotic systems.

Conclusions:

• Robotic manipulators driven by spatial DEAs can be exceptionally lightweight.
• The proposed design enables significant, continuous deformation capabilities.
• This technology holds promise for weight-critical robotic applications.