The Soft Ray-Inspired Robots Actuated by Solid-Liquid Interpenetrating Silicone-Based Dielectric Elastomer Actuator

Area of Science:

• Robotics and Materials Science
• Biomimetic Engineering
• Soft Actuators

Background:

• Dielectric elastomer actuators (DEAs) are crucial for robotics due to high energy density and fast response.
• Soft robots require advanced artificial muscles that mimic biological movement.
• Existing DEAs often need pre-stretching, limiting their application in freestanding states.

Purpose of the Study:

• To develop novel soft ray-inspired robots using solid-liquid interpenetrating silicone-based DEAs (SIS DEAs).
• To investigate the electro-swimming performance of these robots and optimize their locomotion.
• To elucidate the underlying mechanism of electro-swimming through simulation.

Main Methods:

• Fabrication of two types of SIS DEAs for soft ray robots.
• Characterization of SIS DEA actuation strain and performance in a freestanding state.
• Experimental analysis of robot velocity under varying driving frequencies.
• Steady-state and transient simulations to understand electro-swimming mechanics.

Main Results:

• Optimized SIS DEA achieved 79.8% actuation strain at 20.43 kV/mm in a freestanding state.
• The ray robot demonstrated a maximum swimming velocity of 5.7 mm/s at approximately 0.6 Hz driving frequency.
• Simulations revealed that DEA deformation generates vortices, propelling the robot forward.
• SIS DEAs offer shape customizability and high actuation strain, suitable for soft robot muscles.

Conclusions:

• SIS DEAs are effective artificial muscles for soft robots, enabling biomimetic locomotion.
• The developed ray robot showcases efficient electro-swimming capabilities.
• This research provides a pathway for designing advanced soft robots with customisable muscle actuation.