Dynamic modeling of dielectric elastomer actuators with a minimum energy structure. (23rd July 2019)

• Record Type: Journal Article
• Authors: Zou, Jiang; Gu, Guoying
• Is Part Of: Smart materials and structures. Volume 28:Number 8(2019:Aug.)
• Publication Date: 2019-07-23
• Subjects: Dielectric elastomer actuators -- Minimum energy structure -- Dynamic modeling approach -- Geometric nonlinearity -- Viscoelastic nonlinearity -- Equivalent slider-crank mechanism; Smart materials -- Periodicals; Strucural design -- Periodicals; 620.11
• DOI: 10.1088/1361-665X/ab2c1f
• Languages: English
• ISSNs: 0964-1726

Abstract

Abstract: Dielectric elastomer actuators with a minimum energy structure (DEAs-MES) have been widely used in developing different soft robotics, owing to their large strain and simple structure. However, there is rare study on dynamic modeling of DEAs-MES because of both geometric and viscoelastic nonlinearities. In this work, we present a dynamic modeling approach for DEAs-MES by using an equivalent slider-crank mechanism, where geometric nonlinearity is simplified for calculating the stress distribution on DEAs-MES and the viscoelastic nonlinearity is represented by a series of viscoelastic units. In this sense, the Lagrange equation can be utilized to obtain the analytical dynamic model of DEAs-MES. The quantitative comparisons between experimental data and predicted results well demonstrate the effectiveness of the development, where the maximum root-mean-square errors are less than 10.78%. This work presents the early attempt to analytically characterize the dynamic response of DEAs-MES, which will be necessary for further dynamic-model based control design in the field of soft robotics.