Hareesh Godaba

A Soft Jellyfish Robot Driven by a Dielectric Elastomer Actuator

Although dielectric elastomers have been extensively studied recently, to date there has been little research into application of dielectric elastomer actuators to undersea robots. This letter focuses on development of a jellyfish robot using a dielectric elastomer actuator, which exhibits muscle-like properties including large deformation and high energy density. We carry out experiments to test the actuators deformation and force. Theoretical simulations are conducted to analyze the performance of the actuator, which are qualitatively consistent with the experiments. The preliminary studies show that this jellyfish robot based on dielectric elastomer technology can move effectively in water. The robot also exhibits fast response and high capacity of payload (compared to its self-weight).

Giant voltage-induced deformation of a dielectric elastomer under a constant pressure

Dielectric elastomer actuators coupled with liquid have recently been developed as soft pumps, soft lenses, Braille displays, etc. In this paper, we investigate the performance of a dielectric elastomer actuator, which is coupled with water. The experiments demonstrate that the membrane of a dielectric elastomer can achieve a giant voltage-induced area strain of 1165%, when subject to a constant pressure. Both theory and experiment show that the pressure plays an important role in determining the electromechanical behaviour. The experiments also suggest that the dielectric elastomer actuators, when coupled with liquid, may suffer mechanical instability and collapse after a large amount of liquid is enclosed by the membrane. This failure mode needs to be taken into account in designing soft actuators.

An electronically tunable duct silencer using dielectric elastomer actuators

A duct silencer with tunable acoustic characteristics is presented in this paper. Dielectric elastomer, a smart material with lightweight, high elastic energy density and large deformation under high direct current/alternating current voltages, was used to fabricate this duct silencer. The acoustic performances and tunable mechanisms of this duct silencer were experimentally investigated. It was found that all the resonance peaks of this duct silencer could be adjusted using external control signals without any additional mechanical part. The physics of the tunable mechanism is further discussed based on the electro-mechanical interactions using finite element analysis. The present promising results also provide insight into the appropriateness of the duct silencer for possible use as next generation acoustic treatment device to replace the traditional acoustic treatment.

The mechanism for large-volume fluid pumping via reversible snap-through of dielectric elastomer

Giant deformation of dielectric elastomers (DEs) via electromechanical instability (or the “snap-through” phenomenon) is a promising mechanism for large-volume fluid pumping. Snap-through of a DE membrane coupled with compressible air has been previously investigated. However, the physics behind reversible snap-through of a DE diaphragm coupled with incompressible fluid for the purpose of fluid pumping has not been well investigated, and the conditions required for reversible snap-through in a hydraulic system are unknown. In this study, we have proposed a concept for large-volume fluid pumping by harnessing reversible snap-through of the dielectric elastomer. The occurrence of snap-through was theoretically modeled and experimentally verified. Both the theoretical and experimental pressure-volume curves of the DE membrane under different actuation voltages were used to design the work loop of the pump, and the theoretical work loop agreed with the experimental work loop. Furthermore, the feasibility of r...

Experimental characterization of a dielectric elastomer fluid pump and optimizing performance via composite materials

Dielectric elastomer is a class of soft actuators with exceptionally high strain capabilities and energy density. It is being studied for wide range of various applications and has been hypothesized to be a good material for biomedical blood pumps. We performed experimental characterization of a simple dielectric elastomer fluid pump to test this feasibility. We achieved substantial flow rates (10 mL/s) and actuation pressure (45 mm Hg) and found that dielectric elastomer fluid pump performance can exhibit significant resonance effects, with drastic reduction in performance at non-resonance frequencies. The elastomer, VHB™, a soft acrylic polymer, is frequently used to fabricate dielectric elastomer due to high deformation abilities and dielectric constant but has a well-known shortcoming of high viscoelasticity, which severely limited the dielectric elastomer pumps’ performance except at very low frequencies. In this study, we demonstrated that the introduction of a thin elastic and non-viscous layer to the VHB, such as latex, to form a composite dielectric elastomer could address this limitation. The composite dielectric elastomer pump has an increased resonance frequency, significantly improved performances at frequencies of 0.75–2 Hz, and higher maximum achievable actuation volume, flow rate, actuation pressures, and power output. Remaining challenges of realizing a dielectric elastomer blood pump are discussed.

A dielectric elastomer actuator coupled with water: snap-through instability and giant deformation

A dielectric elastomer actuator is one class of soft actuators which can deform in response to voltage. Dielectric elastomer actuators coupled with liquid have recently been developed as soft pumps, soft lenses, Braille displays, etc. In this paper, we conduct experiments to investigate the performance of a dielectric elastomer actuator which is coupled with water. The membrane is subject to a constant water pressure, which is found to significantly affect the electromechanical behaviour of the membrane. When the pressure is small, the membrane suffers electrical breakdown before snap-through instability, and achieves a small voltage-induced deformation. When the pressure is higher to make the membrane near the verge of the instability, the membrane can achieve a giant voltage-induced deformation, with an area strain of 1165%. When the pressure is large, the membrane suffers pressure-induced snap-through instability and may collapse due to a large amount of liquid enclosed by the membrane. Theoretical analyses are conducted to interpret these experimental observations.

A soft flying robot driven by a dielectric elastomer actuator (Conference Presentation)

Modern unmanned aerial vehicles are gaining promising success because of their versatility, flexibility, and minimized risk of operations. Most of them are normally designed and constructed based on hard components. For example, the body of the vehicle is generally made of aluminum or carbon fibers, and electric motors are adopted as the main actuators. These hard materials are able to offer reasonable balance of structural strength and weight. However, they exhibit apparent limitations. For instance, such robots are fragile in even small clash with surrounding objects. In addition, their noise is quite high due to spinning of rotors or propellers. Here we aim to develop a soft flying robot using soft actuators. Due to its soft body, the robot can work effectively in unstructured environment. The robot may also exhibit interesting attributes, including low weight, low noise, and low power consumption. This robot mainly consists of a dielectric elastomer balloon made of two layers of elastomers. One is VHB (3M), and the other is natural rubber. The balloon is filled with helium, which can make the robot nearly neutral. When voltage is applied to either of the two dielectric elastomers, the balloon expands. So that the buoyance can be larger than the robot’s weight, and the robot can move up. In this seminar, we will show how to harness the dielectric breakdown of natural rubber to achieve giant deformation of this soft robot. Based on this method, the robot can move up effectively in air.

Development of soft robots using dielectric elastomer actuators

Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.