Poly(acrylic acid)-Based Hydrogel Actuators Fabricated via Digital Light Projection Additive Manufacturing

Abstract

Electroactive polymers that exhibit controlled deformation under an applied electric field, either in liquid or air, have great potential as soft robotic actuators. However, materials for soft robotics currently face challenges, including slow response, high actuation potential, and a lack of underlying mechanistic understanding. Additionally, fabrication of soft robotic actuators with complex design features has historically been restricted by two-dimensional fabrication methods. In this work, we investigate cross-linked poly(acrylic acid)-based actuators prepared utilizing digital light projection (DLP), an additive manufacturing technique that enables fabrication of actuators with complex geometries. A series of photopolymerizable inks are prepared incorporating acrylic acid (monomer), trimethylolpropane trimethacrylate (cross-linker), and phenylbis(2,4,6-trimethylbenzoyl)phosphine oxide (photoinitiator). Soft actuators are 3D-printed utilizing a commercial DLP 3D printer operating under 405 nm UV light. These 3D-printed actuators exhibit large deformation (up to 43°), high actuation speed (up to 1.08°/s), and stable actuation performance for bending cycles under relatively low actuation voltage (4–6 V). Factors such as acrylic acid content, cross-linker concentration, actuator thicknesses, and electric field strength are varied, and their impact on the 3D-printed actuators are evaluated and discussed. Lastly, a membrane valve actuator is fabricated, and its ability to open and close under applied potential is demonstrated.