An electro-ribbon actuator for robotic applications

Abstract

Biomimetic robots, which abandon the rigid metal skeletons and joints of traditional industrial robots, offer superior environmental adaptability and movement flexibility. However, the actuators of bionic robots currently have limitations such as slow response, high power consumption, and complex structures. Here, we introduce a lightweight electro-ribbon actuator, which significantly improves performance through the addition of high dielectric constant silicone oil, and the actuation voltage has been reduced by 72% (to 2.76 kV). This direct-drive actuator eliminates the need for a transmission mechanism and has fast response and low power consumption characteristics. By utilizing these characteristics, we demonstrate a horizontal jumping robot (mass: 0.35 g) propelled 122 mm horizontally and 105 mm vertically under 12 kV actuation, with low cost of transport. Furthermore, a horizontal moving robot achieves voltage- and frequency-controlled motion via a spring-loaded return mechanism and intermittent electrostatic actuation. We also present a vertical jumping robot reaching 103 mm height within 0.167 s and a voltage-adjustable gripper. This study validates the electro-ribbon actuator as a promising solution for lightweight, fast-responding, and low-power biomimetic actuation, providing new ideas for biomimetic robot design.