Hydraulically Amplified Self-Healing Electrostatic (HASEL) Actuator Systems for Gripping Applications

A system for grasping an object, the system comprising:

• first and second actuators;
• and
• first and second structures, the first structure being mechanically connected with the first actuator and the second structure being mechanically connected with the second actuator,
• wherein the first and second structures is configured for cooperating with each other such that, when the first and second actuators are activated, the first and second structure grasp the object therebetween,
• wherein each one of the first and second actuators includes
• a compliant shell defining an enclosed cavity,
• a dielectric fluid disposed within the enclosed cavity,
• a first electrode disposed on a first side of the compliant shell, and
• a second electrode disposed on a second, opposing side of the compliant shell, and
• wherein each one of the first and second actuators is activatable by application of a voltage on one of the first and second electrodes such that an electrostatic force between the first and second electrodes draws the first and second electrodes toward each other to displace the dielectric fluid within the enclosed cavity.

A system for grasping an object, the system comprising:

• first and second actuators, each one of the first and second actuators including
• a compliant shell defining an enclosed cavity,
• a dielectric fluid disposed within the enclosed cavity,
• a first pair of electrodes defining a first segment, the first pair of electrodes including a first electrode disposed on a first side of the compliant shell and a second electrode disposed on a second, opposing side of the compliant shell, the first segment being activatable by application of a first voltage to one of the first and second electrodes such that an electrostatic force between the first pair of electrodes draws the first pair of electrodes toward each other to displace the dielectric fluid within the first segment,
• a second pair of electrodes defining a second segment, the second pair of electrodes including a third electrode disposed on a first side of the compliant shell and a fourth electrode disposed on a second, opposing side of the compliant shell, the second segment being activatable by application of a second voltage to one of the third and fourth electrodes such that an electrostatic force between the second pair of electrodes draws the second pair of electrodes toward each other to displace the dielectric fluid within the second segment, and
• a support structure fixedly supporting the first and third electrodes to prevent movement of the first side of the compliant shell upon activation of at least one of the first and second segments,
• wherein the first and second actuators are configured for cooperating with each other to grasp the object, and
• wherein the first and second actuators are configured for moving the object peristaltically along the first and second actuators by coordinated activation of the first and second segments of the first and second actuators.

A method for operating a system for grasping an object, the method comprising:

• providing a parallel jaw gripper system including
• first and second actuators, and
• first and second structures, the first structure being mechanically connected with the first actuator and the second structure being mechanically connected with the second actuator,
• the first and second structures being configured for cooperating with each other such that, when the first and second actuators are activated, the first and second structure grasp the object therebetween, and
• a parallel jaw mechanism connected with the first and second structures for providing a larger movement between the first and second structures than otherwise would be possible with the first and second actuators alone,
• wherein each one of the first and second actuators including
• a compliant shell defining an enclosed cavity,
• a dielectric fluid disposed within the enclosed cavity,
• a first electrode disposed on a first side of the compliant shell, and
• a second electrode disposed on a second, opposing side of the compliant shell, and
• wherein each one of the first and second structures includes a stretchable diaphragm surrounding the first and second actuators, respectively;
• adjusting a distance between the first and second structures such that a gap between the object and the stretchable diaphragm is within an achievable stroke of the first and second actuators;
• and
• applying a voltage to one of the first and second electrodes such that an electrostatic force between the first and second electrodes draws the first and second electrodes toward each other to displace the dielectric fluid within the enclosed cavity and expand the stretchable diaphragm to grasp the object therethrough.