Soft gripper actuated by electro-hydraulic force

Tongil Park; Youngsu Cha

doi:10.1117/12.2514008

13 March 2019 Soft gripper actuated by electro-hydraulic force

Tongil Park, Youngsu Cha

Proceedings Volume 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI; 109661Q (2019) https://doi.org/10.1117/12.2514008
Event: SPIE Smart Structures + Nondestructive Evaluation, 2019, Denver, Colorado, United States

Abstract

In this paper, we propose a soft robotic gripper to be mounted easily and to have high actuation force by harnessing electrostatic and hydraulic phenomena. Specifically, we develop a soft actuator to consist of swelling pouches, a silicon backbone beam, and a supplying pouch with electrodes on its both surfaces. The two pouches include dielectric fluid, and they are connected. When a high voltage is applied to the electrode of the supplying pouch, the fluid in the pouch moves to the swelling one. In addition, we present a soft gripper using the soft electro-hydraulic actuators.

Conference Presentation

Citation Download Citation

Tongil Park and Youngsu Cha "Soft gripper actuated by electro-hydraulic force", Proc. SPIE 10966, Electroactive Polymer Actuators and Devices (EAPAD) XXI, 109661Q (13 March 2019); https://doi.org/10.1117/12.2514008

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