Bending Movement Analysis of Soft Actuators Fabricated with Silicone-Ethanol, Carbon Fabric Composites

Hard robots have been used by humans since their advent due to their precision and agility. However, they incur inherent limitations (rigidity and unsafe interaction with humans) which have restricted their suitability for various applications. Soft robots have been growing in interest in the field of robotics due to their light weights, low cost and compliance. In the present work, silicone-rubber, ethanol and carbon texture were used to fabricate a soft bending actuator. The material’s performance was characterized under electrical actuation (locomotion power of ۳۰W). The controlling parameter during the actuation was the bending angle which peaked at ~۵۰° deviation from the constraint. The bending operation and thermal analysis were evaluated by using image processing and incorporating a thermometer inside the soft actuator during five consecutive actuation cycles, respectively. The maximum tangential displacement of the actuator’s tip was ~۹cm, and the maximum temperature was ۷۴°C. Moreover, microstructural analysis was investigated to explain the mechanism of actuation. Distribution of ethanol microbubbles, which are the main reason for elongation during actuation, throughout the elastomeric matrix in the active area was inspected.

کلیدواژه ها:

Soft Actuators ، Phase Change Material (PCM) Composites ، Carbon Fabric ، Electrical Actuation ، Silicone Rubber ، Ethanol