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Dynamic modeling of dielectric elastomer actuator with conical shape

Author

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  • Peng Huang
  • Wenjun Ye
  • Yawu Wang

Abstract

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.

Suggested Citation

  • Peng Huang & Wenjun Ye & Yawu Wang, 2020. "Dynamic modeling of dielectric elastomer actuator with conical shape," PLOS ONE, Public Library of Science, vol. 15(8), pages 1-18, August.
    • Handle: RePEc:plo:pone00:0235229
    DOI: 10.1371/journal.pone.0235229
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    References listed on IDEAS

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    1. Michael Wehner & Ryan L. Truby & Daniel J. Fitzgerald & Bobak Mosadegh & George M. Whitesides & Jennifer A. Lewis & Robert J. Wood, 2016. "An integrated design and fabrication strategy for entirely soft, autonomous robots," Nature, Nature, vol. 536(7617), pages 451-455, August.
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