Bicheng Chen

Bio: Bicheng Chen is an academic researcher from South China University of Technology. The author has contributed to research in topics: Topology optimization & Dielectric elastomers. The author has an hindex of 6, co-authored 15 publications receiving 102 citations.

Advances in dielectric elastomer actuation technology

Abstract: Dielectric elastomer actuators (DEAs) have attracted much interest over the past decades due to the inherent flexibility, large strain, high efficiency, high energy density, and fast response of the material, which are known as one of the most promising candidates for artificial muscle. In this paper, we first introduce the actuation principle and electromechanical modeling approaches of dielectric elastomers (DEs). Then, the performance of different DEs material and existing compliant electrodes that are widely utilized for DEAs are presented. We also highlight the compatibility of DEs, which is suitable for a variety of actuator designs and applications. Lastly, we summarize the challenges and future development in terms of electromechanical modeling, improvement of materials including compliant electrodes and dielectric elastomer, designs and applications of novel dielectric elastomer actuators.

Topology optimization of a cable-driven soft robotic gripper

Abstract: Improving the functionality of soft continuum manipulators to expand their application space has always been an important development direction for soft robotics. It remains very challenging to calculate the deformations of soft materials and predict the basic structure of soft fingers under complex objective functions and constraints. This work develops a cable-driven soft robotic gripper with multi-input and multi-output using topology optimization considering geometric nonlinearity, which not only performs adaptive grasping but also enables finer manipulations such as rotating or panning the target. A scheme that can describe adaptive grasping behavior is proposed, which converts the contact between the clamping surface and the object into a boundary condition to circumvent complex contact nonlinearities. An additive hyperelasticity technique is used to overcome numerical instabilities, and the finite element analysis is performed in ANSYS. Numerical simulations and experimental results are performed to demonstrate the effectiveness of the optimization algorithm and to illustrate the application potential of the proposed gripper.

Design of a rotary dielectric elastomer actuator using a topology optimization method based on pairs of curves

Abstract: Dielectric elastomers (DE), known as electromechanical transducers, have been widely used in the field of sensors, generators, actuators and energy harvesting for decades. A large number of DE actuators including bending actuators, linear actuators and rotational actuators have been designed utilizing an experience design method. This paper proposes a new method for the design of DE actuators by using a topology optimization method based on pairs of curves. First, theoretical modeling and optimization design are discussed, after which a rotary dielectric elastomer actuator has been designed using this optimization method. Finally, experiments and comparisons between several DE actuators have been made to verify the optimized result.

Design of Translational and Rotational Bistable Actuators Based on Dielectric Elastomer

Abstract: Dielectric elastomer (DE), as a group of electro-active polymers, has been widely used in soft robotics due to its inherent flexibility and large induced deformation. As sustained high voltage is needed to maintain the deformation of DE, it may result in electric breakdown for a long-period actuation. Inspired by the bistable mechanism which has two stable equilibrium positions and can stay at one of them without energy consumption, two bistable dielectric elastomer actuators (DEAs) including a translational actuator and a rotational actuator are proposed. Both the bistable actuators consist of a double conical DEA and a buckling beam and can switch between two stable positions with voltage. In this paper, the analytical models of the bulking beam and the conical DEA are presented first, and then the design method is demonstrated in terms of force equilibrium and moment equilibrium principle. The experiments of the translational bistable DEA and the rotational bistable DEA are conducted, which show that the design method of the bistable DEA is effective.

Materials, Actuators, and Sensors for Soft Bioinspired Robots

Abstract: Biological systems can perform complex tasks with high compliance levels. This makes them a great source of inspiration for soft robotics. Indeed, the union of these fields has brought about bioinspired soft robotics, with hundreds of publications on novel research each year. This review aims to survey fundamental advances in bioinspired soft actuators and sensors with a focus on the progress between 2017 and 2020, providing a primer for the materials used in their design.

Design Optimization of Soft Robots: A Review of the State of the Art

Abstract: Robotics has undergone a profound revolution in the past 50 years, moving from the laboratory and research institute to the factory and home. Kinematics and dynamics theories have been developed as the foundation for robot design and control, based on the conventional definition of robots: a kinematic chain of rigid links.