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Electrostatic bellow muscle actuators and energy harvesters that stack up.
I D Sîrbu1, G Moretti2, G Bortolotti1
1Department of Industrial Engineering, University of Trento, Trento, Italy.
Science Robotics
|May 27, 2021
Summary
We developed a novel electrostatic bellow muscle (EBM) actuator for soft robotics. This artificial muscle offers high performance, energy harvesting, and efficient fluid pumping, advancing autonomous robotic systems.
Area of Science:
- Robotics and Artificial Intelligence
- Materials Science
- Energy Harvesting
Background:
- Future robots require lightweight, soft, and efficient systems for safe human interaction.
- Conventional actuators often lack the necessary compliance and efficiency for advanced robotic applications.
Purpose of the Study:
- To introduce a novel electrostatic actuator, the electrostatic bellow muscle (EBM), for soft robotic systems.
- To demonstrate the EBM's multifunctionality as an artificial muscle, fluid pump, and energy harvester.
Main Methods:
- Fabrication of circular EBM units using thin films, liquid dielectrics, and polymeric stiffening elements.
- Integration of EBM units into arrays and stacks for enhanced performance.
- Characterization of EBM performance as an actuator, pump, and energy generator.
Main Results:
- EBMs achieve high forces (up to 6 N), significant contractions (>40%), and high strain rates (>1200%/s).
- As a pump, EBMs deliver flow rates up to 0.63 L/min and 6 kPa pressure.
- EBMs function as energy harvesters with a conversion efficiency nearing 20%.
Conclusions:
- The electrostatic bellow muscle is a versatile, high-performance component for advanced robotic systems.
- Its compact design, low cost, and ease of assembly make it suitable for widespread adoption.
- EBM technology promises to enhance the safety, efficiency, and capabilities of autonomous robots.
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