Development of soft manipulator based on ionogel

Abstract

Soft robots have strong adaptive ability to unstructured environment due to their large deformation capacity. This type of robots can arbitrarily change their size and shape, and have wide potential applications in detection, succor, biology and medicine. Ionic electroactive polymers (EAPs) actuators are expected to be one of the most ideal driving mechanisms for soft robot due to their extraordinary features such as lightweight, flexibility and low-energy consumption. However, traditional EAP actuators e.g. ionic-polymer metal composites (IPMCs) have the defects of durability in open air due to evaporation of water contained in the electrolytes, resulting in corresponding performance reduction. In addition, electrolysis of the water at relatively low operating voltages may cause deterioration of these actuators. Ionic liquids are more thermally and electrochemically stable than water, with unique advantages including negligible volatility, low melting point and high ionic conductivity, and they are therefore can be used in the application of ionic EAP actuators.