Damage Prediction for Integrated DEAP and MRE Soft Actuators
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Instytut Technologii i Inżynierii Chemicznej, Wydział Technologii Chemicznej, Politechnika Poznańska | [ 3 ] Instytut Informatyki, Wydział Informatyki i Telekomunikacji, Politechnika Poznańska | [ P ] employee
2024
scientific article
english
- soft robotics
- soft materials
- DEAP and MRE actuators
- testing
- microdamage
EN Soft robotics is a hot scientific topic in areas such as medicine and medical care, implantology, haptic technologies, and the design of various flexible structures. Integrated actuators (DEAP and MRE) are characterized by special functionality and a wider range of operations than when used individually. Such actuators can later be controlled with high voltages ranging from several to a dozen or so kV. Unfortunately, the production process of integrated actuators is multi-stage and therefore more complicated. Thus, at the stage of prototyping, microscopic errors often occur that cannot be detected using simple measurement methods. The result of such errors is actuator damage at the testing stage or in subsequent application. Unfortunately, due to high voltages, actuator damage usually leads to it catching fire, which is potentially dangerous. This work presents an approach that enables the prediction of actuator damage at the testing stage. The results of modeling damaged actuators, a modified safe testing method, and a complete supervising system for testing the actuator with protection are shown. The work is also enriched with a set of data from the analyzed damage to DEAP and MRE actuators, which may prove useful in other research on the actuators of soft robotics.
04.06.2024
2745-1 - 2745-13
Article Number: 2745
CC BY (attribution alone)
open journal
final published version
at the time of publication
140
3 [List 2023]