The effect of morphology on poly(vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene)-based soft actuators: Films and electrospun aligned nanofiber mats

This paper analyzes soft actuators realized as unimorph cantilever beams, in which the active layer can have two different morphologies, i.e., either an extruded film or an aligned electrospun nanofiber mat of the poly(vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene). Six different soft actuators are fabricated, with active layers of varying thicknesses and morphologies, to study the electrostrictive effect of the polymer and to evaluate the stiffening properties, the mechanical work, and the blocking forces of the actuators when stimulated by different direct current electric fields. The comparison between the different actuators is performed by introducing weight specific properties, i.e., specific stiffness and specific work, showing improved specific properties for the nanofibers-based actuators. Moreover, the blocking forces, the tip deflections, and the leakage currents of the actuators are evaluated when stimulated by alternating current electric fields. The experiments show faster viscoelastic relaxation and lower electrical power consumption for the nanofibers-based actuators. This study concludes that, thank to its electro-mechanical properties, the poly(vinylidene fluoride-trifluoroethylene-chlorotrifluoroethylene) in the form of aligned electrospun nanofiber mat has high potential to be used as the active layer of electrostrictive unimorph beam soft actuators.