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...

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Detalles Bibliográficos
Autores principales: Huang, Peng, Ye, Wenjun, Wang, Yawu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2020
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.
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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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