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Abstract
This paper presents the results of a series of
experiments designed to measure the suitability
of selected dielectric elastomers as artificial
muscle actuators. The paper aims to differentiate
between three widely used dielectric elastomers,
3M VHB-4910, BJB Enterprises TC-5005 and
NuSil Technologys CF19-2186. The materials
are compared in terms of their ease of
manufacture, strain, electrical properties and
hysteresis. The effect and the importance of
prestraining each material is also considered. A
conclusion is drawn on the basis of these
comparisons and recommendations are given for
the design of actuators utilising these materials.
1 Introduction
The development of a realistic artificial muscle has
potential applications in many fields of engineering.
Natural muscle, as a product of billions of years of
evolution, is a highly sophisticated and efficient actuator.
In addition to producing large linear strains and having a
high power to weight ratio, natural muscle displays
flexibility, speed and passive force blocking capability.
Consequently the creation of an actuator that is able to
imitate natural muscle is highly desirable for fields such
as medicine, robotics and defence.
An important subclass of the many different
technologies that have been proposed as potential
artificial muscles is the field of electroactive polymers
(EAPs). EAPs tend to be lightweight, fast and capable of
achieving large amounts of strain [Pelrine et al., 2002].
They are able to produce direct linear motion, unlike
traditional electric actuators which produce rotary motion.
In addition, their electrical properties make them much
easier to control than pneumatic or hydraulic actuators.
A particularly promising type of electroactive
polymer is the dielectric elastomer. Dielectric elastomers
are constructed by coating either side of a thin polymer
film with a compliant electrode [OHalloran and
OMalley, 2004]. A large potential difference is applied
p = 0 E
(1)
(2)
Y
where s is the thickness strain, Y is the Youngs modulus
and the other terms are as above.
Current research into dielectric elastomers has
focussed on silicone and acrylic polymers [Pelrine et al.,
2000]. The aim of early work was to identify materials
that combined relatively high dielectric constants with
low elastic modulus and high dielectric breakdown
strength. Once such polymers were identified, tests were
carried out to determine the amount of strain that they
could produce. A significant discovery from this early
work was that prestraining the polymer before applying
the electric field significantly improved performance
[Pelrine et al., 2000]. However, to date little has been
published to show exactly how the properties of a
dielectric elastomer change with the amount of prestrain.
The requirement that dielectric elastomers be
prestrained in order to achieve the best performance
produces difficulties in building an actuator based on this
technology. Since dielectric elastomers need to be thin
(from 1 mm down to less than 200 m thick [Pelrine et
al., 2000]) and are lightweight (around the density of
water [Bar-Cohen et al., 1998]), any frame or structure for
prestraining would usually contribute the majority of the
size and weight of an actuator. This obviously reduces the
power to weight ratio of the actuator and restricts the
flexibility of any actuator design. Thus the design of an
artificial muscle actuator based on dielectric elastomers
must balance the need for high output strains (and hence
high prestrains) with the desire for high power density and
flexibility.
The three materials (VHB-4910, TC-5005 and CF192186) were chosen based on current literature and
availability. The 3M VHB-4910 was purchased as a premanufactured tape that was 24mm wide and 1mm thick.
NuSil Technologys CF19-2186 came in two separate
2.1
Moulding
2.2
Moulding Results
This process successfully produced impurity-free TC5005 films to thicknesses of 0.25 millimetres. The same
process was unsuccessful when applied to NuSil
Technologys CF19-2186. Due to the materials highly
viscous nature it was difficult to remove all the air
bubbles from the films, and in addition the desired
thicknesses could not be achieved. Although it was
eventually possible to produce consistent CF19-2186
films, the thickness restriction meant that it was not
possible to produce large enough electric fields to actuate
the material with the current equipment. Thus no formal
tests were completed using the CF19-2186.
TC-5005 mixed with 10% titanium dioxide was
successfully moulded at thicknesses down to 0.25mm.
However the texture of the material was not consistent.
Great difficultly was had in consistently producing
impurity free TC-5005 with 10% titanium dioxide. The
titanium dioxide powder tended to clump together rather
than mix uniformly throughout the polymer. Surface
flaws were also magnified, resulting in tears in the films
when they were stretched. The addition of titanium
dioxide should have increased the dielectric constant of
the polymer, while also increasing the elastic modulus.
However, the successfully moulded materials exhibited
far lower performance than TC-5005 without any titanium
Experimental Method
3.1
Material Preparation
Achievable Strain
0.5
0.45
0.4
Area Strain
0.35
0.3
0.25
0.2
0.15
0.1
0.05
0
0
10
12
Voltage (kV)
50,50 %
25,25 %
25,25 %
10,10 %
0.45
0.4
0.5mm
0.5mm
0.25mm
0.5mm
0.35
Area Strain
4.1
0.3
0.25
0.2
0.15
0.1
0.05
0
0
10
12
Voltage (kV)
0.4
0.4
0.5mm
0.5mm
0.25mm
0.5mm
TC-5005
0.3
0.3
0.25
0.25
0.2
0.15
0.1
0.1
0.05
0.05
10
20
30
40
50
60
70
0
0
80
0.3
200,200 %
150,150 %
100,100 %
50,50 %
10,10 %
0.25
0.2
0.15
0.1
0.05
0
0
10
20
30
40
50
20
30
40
50
60
70
80
4.2
0.4
0.35
10
Area Strain
0.2
0.15
0
0
VHB-4910
0.35
Area Strain
Area Strain
0.35
50,50 %
25,25 %
25,25 %
10,10 %
60
70
80
Electrical Properties
14
x 10
100,100 %
150,150 %
200,200 %
10
6
90
4
0
10
20
30
40
50
60
70
80
x 10
25,25 %
10,10 %
25,25 %
50,50 %
Resistivity (Gohm.m)
0.25mm
0.5mm
0.5mm
0.5mm
5
4
3
2
1
0
10
20
30
40
50
60
70
80
Resistivity (Gohm.m)
12
80
70
60
50
40
30
20
100,100 %
150,150 %
200,200 %
10
0
10
20
30
40
50
60
70
80
6000
25,25 %
10,10 %
25,25 %
50,50 %
0.25mm
0.5mm
0.5mm
0.5mm
5000
4000
100
Voltage (V)
150
3000
2000
50
1000
10
20
30
40
50
60
70
0
0
80
0.05
0.1
0.15
4.3
0.25
0.3
0.35
0.4
0.45
5000
4000
Voltage (V)
0.2
Area Strain
3000
2000
1000
0
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
Area Strain
12000
10000
Voltage (V)
8000
6000
4000
2000
0
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0.45
Area Strain
4.4
Acknowledgements
References
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Shahinpoor M., Simpson J. & Smith J. 1998, Lowmass muscle actuators using electroactive polymers
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