Conducting polymer (CP) based soft actuators are good candidates for miniaturised manipulation systems and soft robotic applications. We present the fabrication, characterization, and modelling, of a novel ionically driven soft, flat, parallel manipulator with minimal footprint actuated by CP actuators. This three degrees of freedom (3Dof) manipulator consists of four trilayer actuators with poly (3, 4- ethylenedioxy-thiophene):poly(styrene sulfonate) (PEDOT:PSS) electrodes on both sides of PVDF separator membrane with 1-Ethyl-3-methylimidazoliummethyl imidazolium bis(trifluoromethylsulfonyl)imide ionic liquid used as the electrolyte. The complete manipulator is fabricated as a monolithic structure using commercially available off the shelf materials by additive manufacturing technique including a syringe type printer. Its workspace and dynamics are characterised and the results are compared with a multiphysics model based on the finite element method. The model uses two types of charge storage mechanism namely electrical double layer and redox reactions to describe the electrode kinetics. Through simulation the charge contributed by each of the processes is separated and presented providing new insights in the underlying kinetics in this type of actuators. It is found the double layer charge is the dominant phenomenon driving these actuators compared to the redox process. Finally, to demonstrate the versatile applications, the manipulator is explored for a four-way laser steering application. This work has demonstrated high levels of manipulability along three degrees of freedom from the printed CP actuators that are outstanding within the class of soft ionic actuators while using off the shelf commercially available materials keeping the fabrication method simple, scalable and cost-effective along with the electro-chemo-mechanical model providing an insightful view of the charge storage mechanism. ; Funding Agencies|European Unions Horizon 2020 research and innovation program under the Marie Sklodowska Curie grant [641822]; Estonian Research Council, Linkoping University [IUT20-24]; Swedish Research CouncilSwedish Research Council [VR-2014-3079]; Promobilia Stiftelsen [F17603]


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    Titel :

    Soft parallel manipulator fabricated by additive manufacturing


    Beteiligte:

    Erscheinungsdatum :

    2020-01-01


    Anmerkungen:

    Scopus 2-s2.0-85076783404



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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