Design and Performance Test of Electrostriction Actuated Flexible Gripper With Multipoint Sensing Ability

ABSTRACT This study proposed an electrostriction actuated flexible gripper with multipoint sensing ability to realize target grasping and real‐time sensing of multipoint pressure information. The driving principle of the Dielectric Elastomer Actuator (DEA) was analyzed, and the operating mechanism of the thin film piezoresistive sensor was investigated. The sensor array was integrated on the surface of the DEA. The deformation and sensing performance of the DEA after applying voltage were analyzed. The static response characteristics, dynamic sensitivity, response time, and recovery time of the sensor were evaluated. A two‐finger flexible gripper with multipoint sensing ability was developed to realize the grasping function. The results indicated that the sensor exhibits a dynamic sensitivity of 12.4 kPa −1 , a response time of 147 ms, and a recovery time of 168 ms. The maximum bending angle of the DEA can reach 45° and the maximum output force is 30 mN. The response characteristics of the sensor array are influenced by the curvature of the contacted structures with tested values of 0, 0.0050, 0.0067, and 0.0100 mm −1 . The developed two‐finger flexible gripper can realize the grasping of foam blocks and balloons and accurately recognizes the contact with the surface.