Segmented Electrode Soft Actuator for Complex Multi-Axis Motion
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Solution Overview
Problem
Conventional soft actuators using electroactive polymers can only perform simple linear motions and struggle to achieve complex motions due to their design limitations.
Innovation Solution
The actuator design incorporates multiple pairs of flexible electrodes and base electrodes with insulating layers, where each pair is connected along an axis, allowing for individual voltage application to each electrode portion, enabling deformation in various forms and enabling complex motions such as swinging, turning, and twisting by utilizing connecting members made from elastic or conductive materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a simple pair of electrodes is used, then the structure is simple, but the actuator can only perform simple linear motions and cannot achieve complex motions
Solution Approach 1:
The base electrode is divided into multiple electrode portions (first, second, third electrode portions) that are insulated from each other. Each electrode portion can be independently controlled with individual voltages, enabling the flexible electrode to deform in multiple directions and achieve complex motions including linear motion, swinging motion, and twisting motion.
Solution Approach 2:
The patent transitions from one-dimensional linear motion to multi-dimensional complex motion by arranging electrode portions in different spatial locations around the flexible electrode. This allows deformation in radial, tangential, and axial directions simultaneously, achieving swinging and twisting motions in addition to linear motion.
2Adaptability or versatility
If multiple electrode portions are used to achieve complex motions, then the motion capability is improved, but the control complexity increases
Solution Approach 1:
The base electrode is segmented into multiple independently controllable electrode portions, each capable of receiving different voltage signals. This segmentation allows precise control over the deformation pattern of the flexible electrode, enabling selection of different motion types by activating specific electrode portions with appropriate voltages.
3Productivity
If connecting members made from elastic body are used, then the displacement amount and movement speed are increased, but the structural complexity increases
Solution Approach 1:
Elastic body connecting members are introduced as intermediary elements between adjacent flexible electrodes and between the flexible electrode and base electrode. These connecting members transmit and amplify the deformation forces, increasing the displacement amount and movement speed of the output member while enabling easier return to initial position.
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 allows for the achievement of complex motions and high output by increasing the amount of displacement and movement speed, enabling the actuator to perform tasks that require varied postures and orientations.
Implementation Method 1
the pair of electrodes are attracted to each other, under coulomb force of electric charge accumulated when voltage is applied to the electrodes
Data Source
AI summary
An actuator has a plurality of pairs of a flexible electrode having flexibility, and a base electrode having an opposed face that is opposed to the flexible electrode and is covered with an insulating layer. The flexible electrode is configured to deform to get closer to the opposed face when a voltage is applied to the flexible electrode and the base electrode. Each of the pairs is located on the same axis, and adjacent ones of the pairs are connected to each other. The axis intersects with the opposed face of the base electrode of each of the pairs. The base electrode of each of the pairs is divided into a plurality of electrode portions insulated from each other, and the voltage is individually applied to the electrode portions.