Damage Prediction for Integrated DEAP and MRE Soft Actuators

Jakub Bernat (), Jakub Kołota, Piotr Gajewski, Agnieszka Marcinkowska, Maciej Komosinski and Szymon Szczęsny
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Jakub Bernat: Institute of Automatic Control and Robotics, Poznan University of Technology, 60-965 Poznan, Poland
Jakub Kołota: Institute of Automatic Control and Robotics, Poznan University of Technology, 60-965 Poznan, Poland
Piotr Gajewski: Institute of Chemical Technology and Engineering, Poznan University of Technology, 60-965 Poznan, Poland
Agnieszka Marcinkowska: Institute of Chemical Technology and Engineering, Poznan University of Technology, 60-965 Poznan, Poland
Maciej Komosinski: Institute of Computing Science, Poznan University of Technology, 60-965 Poznan, Poland
Szymon Szczęsny: Institute of Computing Science, Poznan University of Technology, 60-965 Poznan, Poland

Energies, 2024, vol. 17, issue 11, 1-13

Abstract: 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.

Keywords: soft robotics; soft materials; DEAP and MRE actuators; testing; microdamage (search for similar items in EconPapers)
JEL-codes: Q Q0 Q4 Q40 Q41 Q42 Q43 Q47 Q48 Q49 (search for similar items in EconPapers)
Date: 2024
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