Design of high-strength electrically controlled soft actuator using infiltration of PVC-gel into twisted fiber electrode

Abstract

In line with the recently changing industry, the paradigm of actuator research is shifting to soft actuators with excellent safety and adaptability. Among them, fibrous actuators show various advantages such as flexibility, softness and compliance that can be obtained from a simple seamless structure, and many studies are being conducted. Among them, a fibrous actuator that generates torque through torsional motion by itself can generate large linear displacement be coiling the actuator if necessary. The torsional actuators up to now have the advantage of large rotational displacement or large rotational torque, but most actuators are difficult to use universally because they can be used only under certain conditions and environments, are difficult to control. Therefore, in this study, we intend to develop a high-stength torsional actuator that performs torsional actuation through electrical control despite space constraints in various environments by combining the twsted fiber electrode and the Infiltration of PVC (polyvinyl chloride)-gel. We reinterpretate the anodophilic creep phenomenon that adheres to and spreads toward the anode when voltage is applied to the PVC-gel, and confirmed that the PVC-gel infiltrated into the anode if the anode made of fiber bundles. When a certain twist is applied to the anode of the material, this infiltration causes torsional actuation of the anode. Unlike the existing fibrous torsional actuator research that uses the residual stress of polymer or absorbtion of materials from the outside of the actuator, this novel actuator deforms twisted fiber electrode with PVC-gel actuation, providing repeatability, controllability and versatility.