A new design methodology of electrostrictive actuators for bioinspired robotics

At present advanced robotics concepts require new and more suitable components to be exploited, especially in the fields of the biomimetic and soft robotics. In this sense, the actuation system represents one of the most limiting factors for the realization of robots with bio-inspired features and performances. This paper presents a new soft actuators based on electroactive polymers (EAPs) technology. The actuator is composed of a pre-stretched silicone film sputtered with a very thin gold film on both sides, working as electrodes. A particular folded geometry, implemented through an innovative fabrication process, allows to exploit the electrostrictive effect and to develop soft actuators suitable in many applications where softness and flexibility are necessary. The manufactured prototypes were developed on the basis of a parametric model that takes into account all geometric parameters and material characteristics. The proposed model is useful to estimate the performances of the actuator and to improve them.