Fan-Shaped Artificial Muscle Electrodes for Higher Power Density
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Solution Overview
Problem
Current artificial muscles, such as hydraulically amplified self-healing electrostatic (HASEL) actuators, face limitations in actuator power per unit volume, which restricts their efficiency and versatility in robotic applications.
Innovation Solution
The design incorporates an electrode pair with fan portions and bridge portions, housed within a dielectric fluid-filled chamber, allowing for actuation between a non-actuated and actuated state to direct the fluid and increase the surface area for force generation, enhancing power per unit volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If traditional HASEL actuators with simple electrode designs are used, then the device complexity is low, but the actuator power per unit volume is limited
Solution Approach 1:
The electrode is divided into multiple fan portions radiating from a central opening, with bridge portions connecting adjacent fan portions. This segmentation increases the effective electrode surface area and improves electric field distribution, thereby increasing actuator power per unit volume without excessive complexity
Solution Approach 2:
The electrode design transitions from a simple planar structure to a three-dimensional fan-shaped configuration with radial extensions. This dimensional change increases the electrode surface area and improves fluid displacement efficiency, enhancing power density while maintaining manageable structural complexity
2Productivity
If fluidic actuators with channels and tubes are used, then the artificial muscle can achieve actuation, but the speed and efficiency are limited due to fluid transport constraints
Solution Approach 1:
The invention extracts and eliminates the complex system of channels and tubes from the fluidic actuator design. By using a direct electrostatic-to-hydraulic conversion mechanism through the fan-shaped electrodes, fluid transport is simplified while maintaining actuation capability and improving speed
Solution Approach 2:
The mechanical fluid transport system (channels and tubes) is replaced with an electrostatic field-based fluid displacement mechanism. The electric field directly acts on the dielectric fluid, eliminating the need for physical conduits and improving actuation speed and efficiency
3Ease of operation
If thermally activated polymer fibers are used, then actuation can be achieved, but the control difficulty increases and operating efficiency decreases
Solution Approach 1:
Thermal activation mechanisms are replaced with electrostatic field activation. The electrostatic field provides direct, precise, and efficient control of the dielectric fluid, eliminating the energy losses and control difficulties associated with thermal activation while improving ease of operation
Solution Approach 2:
The activation parameter is changed from thermal (temperature-based) to electrostatic (electric field-based). This parameter change enables more precise control and reduces energy loss, as electrostatic fields can be rapidly modulated without the thermal inertia and efficiency losses characteristic of thermally activated systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration significantly increases actuator power per unit volume, enabling more efficient and controlled inflation of the artificial muscle, addressing the limitations of existing HASEL actuators by providing focused and directed force with improved displacement.
Implementation Method 1
These hydraulically amplified self-healing electrostatic (HASEL) actuators use electrostatic and hydraulic forces to achieve a variety of actuation modes
Implementation Method 2
These hydraulically amplified self-healing electrostatic (HASEL) actuators use electrostatic and hydraulic forces to achieve a variety of actuation modes
Data Source
AI summary
An artificial muscle includes an electrode pair including a first electrode and a second electrode. One or both of the first electrode and the second electrode includes a central opening. The first electrode and the second electrode each include two or more fan portions and two or more bridge portions. Each fan portion includes a first end having an inner length, a second end having an outer length, a first side edge extending from the second end, and a second side edge extending from the second end. The outer length is greater than the inner length. Each bridge portion interconnecting adjacent fan portions at the first end.