Reciprocating Electrode Stack Artificial Muscle Actuation
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Solution Overview
Problem
Current artificial muscles, such as HASEL actuators, have limited electrode density and actuation power per unit volume due to the use of single electrode pairs and rigid components, which restricts their versatility and efficiency in robotic applications.
Innovation Solution
The design incorporates a reciprocating electrode stack with multiple electrode pairs physically coupled along one edge and connected in an alternating zigzag pattern within a flexible enclosure, housed with dielectric fluid, to increase electrode density and actuation power per unit volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If single electrode pairs are used in HASEL actuators, then device complexity is reduced, but electrode density and actuation power per unit volume are limited
Solution Approach 1:
The electrode stack is segmented into multiple electrode pairs arranged in series, where each pair consists of a positive electrode and a negative electrode. This segmentation allows multiple electrode pairs to be stacked within the same volume, increasing electrode density and actuation power per unit volume while maintaining manageable device complexity through modular arrangement
Solution Approach 2:
The invention transitions from a single electrode pair configuration to a multi-layer stacked configuration, adding the vertical dimension to the electrode arrangement. Multiple electrode pairs are stacked along the length of the flexible enclosure, effectively utilizing three-dimensional space to increase electrode density without significantly increasing the footprint area
2Adaptability or versatility
If fluidic actuators are used, then soft robotics performance is improved, but fluid transport through channels and tubes limits speed and efficiency
Solution Approach 1:
The invention extracts and eliminates the fluid transport system (channels and tubes) from the HASEL actuator design. By removing the fluidic infrastructure, the actuator achieves faster response times and higher efficiency while maintaining the soft robotics performance benefits, as the electrostatic actuation occurs directly without fluid mediation
Solution Approach 2:
The invention replaces the fluidic mechanical system with a direct electrostatic field-based actuation system. Instead of using pressurized fluid transport through channels and tubes, the actuator uses electrostatic forces generated by voltage applied to the electrode pairs, eliminating the speed-limiting fluid transport infrastructure while maintaining soft actuation capabilities
3Power
If electrode density is increased, then actuation power per unit volume is improved, but device complexity increases
Solution Approach 1:
Adjacent electrodes of opposite polarity are physically connected along their edges to form electrode pairs, merging multiple electrodes into integrated units. This combining approach increases electrode density while reducing device complexity by eliminating the need for separate lead connections to each individual electrode, as adjacent electrodes are electrically coupled through their physical edges
4Stability of the object's composition
If rigid components are used, then structural stability is maintained, but weight to power ratio deteriorates
Solution Approach 1:
The invention replaces rigid components with a flexible enclosure that houses the electrode stack and dielectric fluid. The flexible enclosure maintains structural stability sufficient for actuation while being significantly lighter than rigid alternatives, thereby improving the power to weight ratio. The flexibility of the enclosure also enables the soft actuation motion without requiring rigid mechanical support structures
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 enhances the actuation force per unit volume by increasing electrode density, allowing for more efficient and powerful contraction of the artificial muscle, enabling applications in robotics with improved power-to-weight ratio.
Implementation Method 1
applying voltage generated by the voltage source to the reciprocating electrode stack, thereby inducing contraction of each electrode pair such that the first end plate and the second end plate are drawn toward one another
Implementation Method 2
Hydraulically amplified self-healing electrostatic actuators with muscle-like performance
Data Source
AI summary
An artificial muscle that includes a first end plate opposite a second end plate, a flexible enclosure extending from the first end plate to the second end plate and housing a dielectric fluid, and a reciprocating electrode stack housed within the flexible enclosure and coupled to and extending between the first end plate and the second end plate. The reciprocating electrode stack includes one or more electrode pairs, each electrode pair having a positive electrode and a negative electrode physically coupled to one another along a first edge portion of the positive electrode and the negative electrode. The artificial muscle also includes a plurality of electrode leads electrically coupled to the reciprocating electrode stack. Each individual electrode lead of the plurality of electrode leads extends from an individual electrode of the reciprocating electrode stack to the first end plate or the second end plate.