{"ID":2841428,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.12380","arxiv_id":"2511.12380","title":"Multilaminate piezoelectric PVDF actuators to enhance performance of soft micro robots","abstract":"Multilayer piezoelectric polyvinylidene fluoride (PVDF) actuators are a promising approach to enhance performance of soft microrobotic systems. In this work, we develop and characterize multilayer PVDF actuators with parallel voltage distribution across each layer, bridging a unique design space between brittle high-force PZT stacks and compliant but lower-bandwidth soft polymer actuators. We show the effects of layer thickness and number of layers in actuator performance and their agreement with a first principles model. By varying these parameters, we demonstrate actuators capable of \u003e3 mm of free deflection, \u003e20 mN of blocked force, and \u003e=500 Hz, while operating at voltages as low as 150 volts. To illustrate their potential for robotic integration, we integrate our actuators into a planar, translating microrobot that leverages resonance to achieve locomotion with robustness to large perturbations.","short_abstract":"Multilayer piezoelectric polyvinylidene fluoride (PVDF) actuators are a promising approach to enhance performance of soft microrobotic systems. In this work, we develop and characterize multilayer PVDF actuators with parallel voltage distribution across each layer, bridging a unique design space between brittle high-fo...","url_abs":"https://arxiv.org/abs/2511.12380","url_pdf":"https://arxiv.org/pdf/2511.12380v1","authors":"[\"Nicholas Gunter\",\"Heiko Kabutz\",\"Kaushik Jayaram\"]","published":"2025-11-15T22:54:35Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}