Dynamic modeling of dielectric elastomer actuator with conical shape
With desirable physical performances of impressive actuation strain, high energy density, high degree of electromechanical coupling and high mechanical compliance, dielectric elastomer actuators (DEAs) are widely employed to actuate the soft robots. However, there are many challenges to establish th...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Public Library of Science
2020
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7428350/ https://www.ncbi.nlm.nih.gov/pubmed/32797117 http://dx.doi.org/10.1371/journal.pone.0235229 |
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author | Huang, Peng Ye, Wenjun Wang, Yawu |
author_facet | Huang, Peng Ye, Wenjun Wang, Yawu |
author_sort | Huang, Peng |
collection | PubMed |
description | With desirable physical performances of impressive actuation strain, high energy density, high degree of electromechanical coupling and high mechanical compliance, dielectric elastomer actuators (DEAs) are widely employed to actuate the soft robots. However, there are many challenges to establish the dynamic models for DEAs, such as their inherent nonlinearity, complex electromechanical coupling, and time-dependent viscoelastic behavior. Moreover, most previous studies concentrated on the planar DEAs, but the studies on DEAs with some other functional shapes are insufficient. In this paper, by investigating a conical DEA with the material of polydimethylsiloxane and considering the influence of inertia, we propose a dynamic model based on the principles of nonequilibrium thermodynamics. This dynamic model can describe the complex motion characteristics of the conical DEA. Based on the experimental data, the differential evolution algorithm is employed to identify the undetermined parameters of the developed dynamic model. The result of the model validation demonstrates the effectiveness of the model. |
format | Online Article Text |
id | pubmed-7428350 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2020 |
publisher | Public Library of Science |
record_format | MEDLINE/PubMed |
spelling | pubmed-74283502020-08-20 Dynamic modeling of dielectric elastomer actuator with conical shape Huang, Peng Ye, Wenjun Wang, Yawu PLoS One Research Article With desirable physical performances of impressive actuation strain, high energy density, high degree of electromechanical coupling and high mechanical compliance, dielectric elastomer actuators (DEAs) are widely employed to actuate the soft robots. However, there are many challenges to establish the dynamic models for DEAs, such as their inherent nonlinearity, complex electromechanical coupling, and time-dependent viscoelastic behavior. Moreover, most previous studies concentrated on the planar DEAs, but the studies on DEAs with some other functional shapes are insufficient. In this paper, by investigating a conical DEA with the material of polydimethylsiloxane and considering the influence of inertia, we propose a dynamic model based on the principles of nonequilibrium thermodynamics. This dynamic model can describe the complex motion characteristics of the conical DEA. Based on the experimental data, the differential evolution algorithm is employed to identify the undetermined parameters of the developed dynamic model. The result of the model validation demonstrates the effectiveness of the model. Public Library of Science 2020-08-14 /pmc/articles/PMC7428350/ /pubmed/32797117 http://dx.doi.org/10.1371/journal.pone.0235229 Text en © 2020 Huang et al http://creativecommons.org/licenses/by/4.0/ This is an open access article distributed under the terms of the Creative Commons Attribution License (http://creativecommons.org/licenses/by/4.0/) , which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited. |
spellingShingle | Research Article Huang, Peng Ye, Wenjun Wang, Yawu Dynamic modeling of dielectric elastomer actuator with conical shape |
title | Dynamic modeling of dielectric elastomer actuator with conical shape |
title_full | Dynamic modeling of dielectric elastomer actuator with conical shape |
title_fullStr | Dynamic modeling of dielectric elastomer actuator with conical shape |
title_full_unstemmed | Dynamic modeling of dielectric elastomer actuator with conical shape |
title_short | Dynamic modeling of dielectric elastomer actuator with conical shape |
title_sort | dynamic modeling of dielectric elastomer actuator with conical shape |
topic | Research Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7428350/ https://www.ncbi.nlm.nih.gov/pubmed/32797117 http://dx.doi.org/10.1371/journal.pone.0235229 |
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