Toward an electroactive polymer-based soft microgripper

Chia-Ju Peng (1) , Lauréline Seurre (2, 3) , Eric Cattan (2, 3) , Giao Tran-Minh Nguyen (4) , Cedric Plesse (4) , Luc Chassagne (1) , Barthélemy Cagneau (1)

1 LISV - Laboratoire d'Ingénierie des Systèmes de Versailles
2 MAMINA - IEMN - Matériaux et Acoustiques pour MIcro et NAno systèmes intégrés - IEMN
3 IEMN - Institut d’Électronique, de Microélectronique et de Nanotechnologie - UMR 8520
4 LPPI - Laboratoire de Physico-chimie des Polymères et des Interfaces

Grasping and manipulating objects on a microscale hold great promise, especially using mechanical structures made from soft materials that enable, for example, safe operations during micro-surgery. Soft robots should be preferred to manipulate micro-objects, but their adoption requires, inter alia, soft transducers that can operate either in air or in solution. Ultimately, they should enable actuation at low voltage, as well as be easy to fabricate. This paper presents the results on our investigations about conducting polymers-based transducers. We demonstrate that this material is suitable to construct sensitive structures and a microgripper is proposed to illustrate the results. Large strains were observed and a grasping force of 0.17 mN was generated. Moreover, compared to previous work, we show that the fabrication process can be downscaled while preserving the behavior of the material in both actuation and sensing modes. The macroscale mechanical models obtained are still valid for microscale actuation and sensing.

Mots clés: electroactive polymers; microgripper; smart materials

Domaines: Sciences de l'ingénieur [physics]; Micro et nanotechnologies/Microélectronique; Matériaux; Acoustique [physics.class-ph]

Chia-Ju Peng, Lauréline Seurre, Eric Cattan, Giao Tran-Minh Nguyen, Cedric Plesse, et al.. Toward an electroactive polymer-based soft microgripper. IEEE Access, 2021, 9, pp.32188-32195. ⟨10.1109/ACCESS.2021.3059926⟩. ⟨hal-03146462⟩