Harnessing fiber induced anisotropy in design and fabrication of soft actuator with simultaneous bending and twisting actuations

Abstract

Most of the soft dielectric elastomer actuators (DEAs) are able to provide either planar or twisting deformations only. Development of a bio-inspired actuator with functionalities similar to the mammalian tongue or octopus tentacles is highly desirable for soft robotics applications. Here, design and fabrication of a multi-layered soft DEA capable of simultaneous bending and twisting actuation is reported through a unified computational and experimental approach. An anisotropic layer is introduced to couple the bending and twisting deformation in the conventional DEA. The fiber spacing and fiber orientation in the anisotropic layer is optimized with classical laminate theory (CLT) and finite element (FE) analysis. A multi-layered DEA with bending-twisting actuation is experimentally fabricated as a ‘proof of concept’. The computational and experimental results suggest that bend-twist coupling in multi-layered DEA can be suitably designed by varying the fiber spacing and orientation in the anisotropic layer. The twisting actuation of DEA enhances at the expense of bending deformation with an increase in the fiber angle. Finally, it is shown that a single anisotropic layer having 2 mm fiber spacing and 45° fiber orientation induces sufficiently large bending and twisting actuations in DEA. The findings of the present study will be a significant step ahead to develop bio-mimicking anisotropic actuators and grippers for soft robotics applications.