Investigations on the Effects of Surface Topography in the Actuation Performance of Stacked and Rolled Deap Actuator

Abstract

This research work presents about the development of a compliant actuator based on Dielectric Electroactive Polymer (DEAP) technology. The present advanced robotics concept requires smart materials, mostly in the form of actuators, for the development of biomimetic and flexible robotic systems. Smart materials such as Shape Memory Alloys (SMAs) and Electroactive Polymers (EAPs) are promising candidates for developing Bio-inspired smart robots without using conventional rigid links and joints. The actuation frequency of SMA is very low compared to that of DEAP and hence, the later is a promising actuator material, especially for robot mechanisms and similar mechatronic devices. The DEAP actuator material is comprises of a pre-stretched silicon film sputtered with very thin silver electrodes on both sides so as to form a smart capacitor. newlineThese materials are anisotropic and hence knowledge on their mechanical properties becomes a critical factor when such materials are used to develop various smart actuators. Young s modulus is an important design parameter and DEAP has three different modulus values for the respective three directions. A few parameters, especially the influence of geometrical behavior and surface topography on the actuation behavior, become critical when the material is meant for miniaturized actuation devices. The other influencing aspect is that it is more compliant in one direction and stiff in another direction due to the presence of corrugations.