ABSTRACT
This paper describes a fluid mixer made of a double-cone dielectric elastomer actuator. The device consists of two conically-shaped elastomeric membranes, forming a 3D hyperbole. Each membrane is spray-coated on either side with carbon black-silicone stretchable electrodes, forming four independent radial actuation segments. The two conical membranes support a central end effector. Via image processing-based motion tracking, we show how, by modulating the electrical activation of the actuation segments, the end effector can be finely positioned with multiple degrees of freedom. The direction and the amplitude/speed of motion of a central dot are tuned via a custom-made, Arduino microcontroller-driven, multichannel, high-voltage control unit. Different trajectories forming geometrical shapes (such as figure of star, cross and circle) are shown, demonstrating the possibility of mixing fluids in a chamber on the end effector plane, according to different mixing patterns. The paper discusses the effect on the mixing performance of key material-related parameters, such as the film thickness, the resistivity of the electrodes, the prestrain of the membranes, as well as the elastomer’s dielectric permittivity and elastic modulus.
