Electromechanical Model of a Conducting Polymer Transducer, Application to a Soft Gripper

Abstract

Conducting interpenetrating polymer networks (C-IPN) are a promising solution for the design of sensing and actuating parts at macro- or microscale. This class of polymers can be used in open-air, allowing for large displacements under low voltages with a reversible process. In this work, we are mainly interested in the electromechanical characterization of the material because of its particular behavior. Two working modes, namely actuation and sensing, are identified through modeling and experimental validations. The relationship between the output forces, the tip displacements and the driving voltages was highlighted with an experimental setup while actuating. On the other hand, the linear range and the sensitivity have been empirically modeled in sensing mode. We also demonstrate that this material is suitable to build a gripper for small objects. A sphere was lifted by the gripper, and the grasping force was successfully monitored by the sensing finger. This is a promising first step towards more complex 3D structures.

Keywords

• Soft robotics
• end effectors
• chemical sensors