A self-loading suction cup driven by a resonant dielectric elastomer actuator

Abstract

Suction cups are widely utilized in industries and robotics fields for object manipulation and robotic positioning. Conventional vacuum pumps can remove fluid from the suction cup continuously, enabling reliable adhesion. However, the bulky and rigid nature limits their integration with soft robotics. On the other hand, suction cups driven by soft smart materials offer better integration with soft robots but face challenges in achieving continuous fluid removal, resulting in potential suction failures in case of seal breaks. Aiming to address this limitation, a novel self-loading suction cup driven by a resonant dielectric elastomer actuator is proposed. This mechanism allows for continuous and efficient removal of the enclosed fluid in the sucker, thereby achieving successful and sustained adhesion. The structure design is presented and its fundamental working principles are revealed through theoretical analysis and experiments. The effects of several key design parameters (i.e., actuation electric field amplitude, moving mass, substrate roughness) on the performance of the suction cup are experimentally characterized to achieve performance optimization. This design demonstrates a maximum net suction force of 24.9 N (12.7 kPa), which is equivalent to 80 times its body weight. The suction cup design holds potential application values in soft robots, surveillance and environmental monitoring.