Characterisation of Self-locking High-contraction Electro-ribbon Actuators*

Majid Taghavi; Tim N Helps; Jonathan M Rossiter

doi:10.1109/ICRA40945.2020.9196849

Characterisation of Self-locking High-contraction Electro-ribbon Actuators*

Majid Taghavi^*, Tim N Helps^*, Jonathan M Rossiter^*

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

4 Citations (Scopus)

84 Downloads (Pure)

Abstract

Actuators are essential devices that exert force and do work. The contraction of an actuator (how much it can shorten) is an important property that strongly influences its applications, especially in engineering and robotics. While high contractions have been achieved by thermally- or fluidically-driven technologies, electrically-driven actuators typically cannot contract by more than 50%. Recently developed electro-ribbon actuators are simple, low cost, scalable electroactive devices powered by dielectrophoretic liquid zipping (DLZ) that exhibit high efficiency (~70%), high power equivalent to mammalian muscle (~100 W/kg), contractions exceeding 99%. We characterise the electro-ribbon actuator and explore contraction variation with voltage and load. We describe the unique self-locking behaviour of the electro-ribbon actuator which could allow for low-power-consumption solenoids and valves. Finally, we show the interdependence of constituent material properties and the important role that material choice plays in maximising performance.

Original language	English
Title of host publication	2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Publisher	Institute of Electrical and Electronics Engineers (IEEE)
Pages	5856-5861
Number of pages	6
ISBN (Electronic)	9781728173955
DOIs	https://doi.org/10.1109/ICRA40945.2020.9196849
Publication status	E-pub ahead of print - 15 Sep 2020
Event	2020 IEEE International Conference on Robotics and Automation, ICRA 2020 - Paris, France Duration: 31 May 2020 → 31 Aug 2020

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers
Volume	163
ISSN (Print)	1050-4729

Conference

Conference	2020 IEEE International Conference on Robotics and Automation, ICRA 2020
Country/Territory	France
City	Paris
Period	31/05/20 → 31/08/20

Bibliographical note

Funding Information:
* Majid Taghavi is supported by EPSRC grant EP/R02961X/1. T. Helps is supported by the Royal Academy of Engineering and the Office of the Chief Science Adviser for National Security under the UK Intelligence Community Postdoctoral Fellowship Programme. Jonathan Rossiter is supported by the Royal Academy of Engineering through the Chair in Emerging Technologies scheme and EPSRC grant EP/M020460/1.

Publisher Copyright:
© 2020 IEEE.

Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.

Access to Document

10.1109/ICRA40945.2020.9196849

Full-text PDF (author’s accepted manuscript)
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Accepted author manuscript, 609 KB

Cite this

Taghavi, M., Helps, T. N., & Rossiter, J. M. (2020). Characterisation of Self-locking High-contraction Electro-ribbon Actuators*. In 2020 IEEE International Conference on Robotics and Automation, ICRA 2020 (pp. 5856-5861). [9196849] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 163). Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICRA40945.2020.9196849

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abstract = "Actuators are essential devices that exert force and do work. The contraction of an actuator (how much it can shorten) is an important property that strongly influences its applications, especially in engineering and robotics. While high contractions have been achieved by thermally- or fluidically-driven technologies, electrically-driven actuators typically cannot contract by more than 50%. Recently developed electro-ribbon actuators are simple, low cost, scalable electroactive devices powered by dielectrophoretic liquid zipping (DLZ) that exhibit high efficiency (~70%), high power equivalent to mammalian muscle (~100 W/kg), contractions exceeding 99%. We characterise the electro-ribbon actuator and explore contraction variation with voltage and load. We describe the unique self-locking behaviour of the electro-ribbon actuator which could allow for low-power-consumption solenoids and valves. Finally, we show the interdependence of constituent material properties and the important role that material choice plays in maximising performance.",

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Taghavi, M, Helps, TN & Rossiter, JM 2020, Characterisation of Self-locking High-contraction Electro-ribbon Actuators*. in 2020 IEEE International Conference on Robotics and Automation, ICRA 2020., 9196849, Proceedings - IEEE International Conference on Robotics and Automation, vol. 163, Institute of Electrical and Electronics Engineers (IEEE), pp. 5856-5861, 2020 IEEE International Conference on Robotics and Automation, ICRA 2020, Paris, France, 31/05/20. https://doi.org/10.1109/ICRA40945.2020.9196849

Characterisation of Self-locking High-contraction Electro-ribbon Actuators*. / Taghavi, Majid; Helps, Tim N; Rossiter, Jonathan M.

2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers (IEEE), 2020. p. 5856-5861 9196849 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 163).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

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PY - 2020/9/15

Y1 - 2020/9/15

N2 - Actuators are essential devices that exert force and do work. The contraction of an actuator (how much it can shorten) is an important property that strongly influences its applications, especially in engineering and robotics. While high contractions have been achieved by thermally- or fluidically-driven technologies, electrically-driven actuators typically cannot contract by more than 50%. Recently developed electro-ribbon actuators are simple, low cost, scalable electroactive devices powered by dielectrophoretic liquid zipping (DLZ) that exhibit high efficiency (~70%), high power equivalent to mammalian muscle (~100 W/kg), contractions exceeding 99%. We characterise the electro-ribbon actuator and explore contraction variation with voltage and load. We describe the unique self-locking behaviour of the electro-ribbon actuator which could allow for low-power-consumption solenoids and valves. Finally, we show the interdependence of constituent material properties and the important role that material choice plays in maximising performance.

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PB - Institute of Electrical and Electronics Engineers (IEEE)

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ER -

Taghavi M, Helps TN, Rossiter JM. Characterisation of Self-locking High-contraction Electro-ribbon Actuators*. In 2020 IEEE International Conference on Robotics and Automation, ICRA 2020. Institute of Electrical and Electronics Engineers (IEEE). 2020. p. 5856-5861. 9196849. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA40945.2020.9196849

Characterisation of Self-locking High-contraction Electro-ribbon Actuators*

Abstract

Publication series

Conference

Bibliographical note

Access to Document

Other files and links

Fingerprint

EPSRC Fellowship - Soft robotic technologies for next generation bio integrative medical devices

Cite this

Characterisation of Self-locking High-contraction Electro-ribbon Actuators*

Abstract

Publication series

Conference

Bibliographical note

Access to Document

Other files and links

Fingerprint

Projects

EPSRC Fellowship - Soft robotic technologies for next generation bio integrative medical devices

Cite this