Experimental characterization of a multilayer silicone-based electroactive patch for gripper applications

M. Caselli; N. Berdozzi; L. Agostini; M. Fontana; I. Fassi; L. Molinari Tosatti; R. Vertechy

doi:10.1117/12.2582950

22 March 2021 Experimental characterization of a multilayer silicone-based electroactive patch for gripper applications

M. Caselli, N. Berdozzi, L. Agostini, M. Fontana, I. Fassi, L. Molinari Tosatti, R. Vertechy

Proceedings Volume 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII; 115871S (2021) https://doi.org/10.1117/12.2582950
Event: SPIE Smart Structures + Nondestructive Evaluation, 2021, Online Only

Abstract

Flexible thin-film Electro-Adhesive Devices (EADs) represent a promising technology with great potential for gripper applications. Generally, the gripping action of an EAD is due to the electrostatic force induced by an electric field produced by applying a voltage across a couple of electrodes that are embedded between dielectric substrates. This paper presents a novel manufacturing process and the experimental characterization of a multilayer electro-adhesive gripper. The proposed device employs highly elastic silicone (PDMS) thin-film as the grasping layer, i.e., the dielectric layer that comes in contact with the grasped object, a carbon-black mixture in a silicone compound for the electrodes, and a rigid polyimide thin-film as the backing layer, i.e., the dielectric layer on the backside of the EAD. A fabrication methodology is illustrated, which starts from a casting of thin conductive electrodes on a polyimide film, followed by a laser-cutting operation to shape the electrodes and a blade casting process to encapsulate the overall system in a PDMS compound. Different prototypes obtained through this manufacturing procedure have been experimentally evaluated through a testing campaign conducted on three groups of specimens, each composed of five identical samples, with a different electrode thickness per group. Samples are tested for electrostatic shear stress and electrical breakdown during the grasping of paper substrates, identifying the best performing EAD group.

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Citation Download Citation

M. Caselli, N. Berdozzi, L. Agostini, M. Fontana, I. Fassi, L. Molinari Tosatti, and R. Vertechy "Experimental characterization of a multilayer silicone-based electroactive patch for gripper applications", Proc. SPIE 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII, 115871S (22 March 2021); https://doi.org/10.1117/12.2582950

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