A paper-based electrostatic zipper actuator for printable robots

Author

Chen, Abraham Simpson ; Hongli Zhu ; Yuanyuan Li ; Liangbing Hu ; Bergbreiter, Sarah

Author_Institution

Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA

fYear

2014

fDate

May 31 2014-June 7 2014

Firstpage

5038

Lastpage

5043

Abstract

A paper-based electrostatic zipper actuator for printable robotics has been designed, fabricated and characterized. A simple fabrication process that utilizes paper with a carbon nanotube ink is used to create electrodes separated by either a mylar or parylene dielectric layer. A 5 cm × 1 cm actuator demonstrated a maximum static deflection of 1.8 cm and a bandwidth of approximately 12 Hz. Static power dissipation was under 1 μW. Two of these actuators are combined to demonstrate simple motion in a 6 cm × 1 cm × 1 cm robot using assymetric friction with the ground, achieving speeds up to 33 mm/min.

Keywords

carbon nanotubes; dielectric materials; electrodes; electrostatic actuators; ink; mobile robots; paper; C; assymetric friction; carbon nanotube ink; electrode; mylar; paper-based electrostatic zipper actuator; parylene dielectric layer; printable robotics; size 1.8 cm; static power dissipation; Actuators; Dielectrics; Electrodes; Electrostatics; Fabrication; Materials; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2014 IEEE International Conference on

Conference_Location

Hong Kong

Type

conf

DOI

10.1109/ICRA.2014.6907597

Filename

6907597