DIELECTRIC ELASTOMER ACTUATOR OF OPTIMAL PERFORMANCE WITH APPLICATIONS TO SOFT DEVICES/ROBOTS

Abstract

In this thesis, we develop soft robots and devices with optimal performance based on the large actuation mechanism of dielectric elastomer actuators. We first developed the mechanism of the reversible snap-through of the dielectric elastomer coupled with water and achieve a large pumping volume of 110 ml per cycle. To improve the pumping performance across large pressure gradient, we further purposed the mechanism of the synergistic snap-through for large volume and high-pressure fluid pumping. A large-volume fluid pumping (over 70 ml/cycle) can be achieved over a wide range of large adverse pressure gradients. Inspired by natural fish bladder, we developed a dual membrane artificial swim bladder, which can generate large a buoyancy force of 0.49N due to its large voltage induced volume change. Lastly, a biomimetic soft jellyfish robot based on dielectric elastomer is developed which demonstrates an effective underwater movement.