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Dielectric electroactive polymers (DEAPs) represent a subclass of smart materials that are capable of converting between electrical and mechanical energy. These materials can be used as energy harvesters, sensors, and actuators. However, current production and testing of these devices is limited and requires multiple step processes for fabrication. This paper presents an alternate production method via 3D printing using Thermoplastic Polyurethane (TPU) as a dielectric elastomer. This study provides electromechanical characterization of flexible dielectric films produced by additive manufacturing and demonstrates their use as DEAP actuators. The dielectric material characterization of TPU includes: measurement of the dielectric constant, percentage radial elongation, tensile properties, pre-strain effects on actuation, surface topography, and measured actuation under high voltage. The results demonstrated a high dielectric constant and ideal elongation performance for this material, making the material suitable for use as a DEAP actuator. In addition, it was experimentally determined that the tensile properties of the material depend on the printing angle and thickness of the samples thereby making these properties controllable using 3D printing. Using surface topography, it was possible to analyze how the printing path, affects the roughness of the films and consequently affects the voltage breakdown of the structure and creates preferential deformation directions. Actuators produced with concentric circle paths produced an area expansion of 4.73% uniformly in all directions. Actuators produced with line paths produced an area expansion of 5.71% in the direction where the printed lines are parallel to the deformation direction, and 4.91% in the direction where the printed lines are perpendicular to the deformation direction.
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Rapid 3D Printing of Electrohydraulic (HASEL) Tentacle Actuators
Abstract A comprehensive material system is introduced for the additive manufacturing of electrohydraulic (HASEL) tentacle actuators. This material system consists of a photo‐curable, elastomeric silicone‐urethane with relatively strong dielectric properties (εr ≈ 8.8 at 1 kHz) in combination with ionically‐conductive hydrogel and silver paint electrodes that displace a vegetable‐based liquid dielectric under the application of an electric field. The electronic properties of the silicone material as well as the mechanical properties of the constitutive silicone and hydrogel materials are investigated. The hydraulic pressure exerted on the dielectric working fluid in these capacitive actuators is measured in order to characterize their quasi‐static behavior. Various design features enabled by 3D printing influence this behavior—decreasing the voltage at which actuation begins or increasing the force density in the system. Using a capacitance change of >35% across the actuators while powered, a demonstration of self‐sensing inherent to HASELs is shown. Antagonistic pairs of the 3D printed actuators are shown to exert a blocked force of over 400 mN. An electrohydraulic tentacle actuator is then fabricated to demonstrate the use of this material and actuation system in a synthetic hydrostat. This tentacle actuator is shown to achieve motion in a multi‐dimensional space.
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- Award ID(s):
- 1830924
- PAR ID:
- 10456445
- Publisher / Repository:
- Wiley Blackwell (John Wiley & Sons)
- Date Published:
- Journal Name:
- Advanced Functional Materials
- Volume:
- 30
- Issue:
- 40
- ISSN:
- 1616-301X
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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