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doi:10.22028/D291-40470
Titel: | Modeling and experimental validation of thin, tightly rolled dielectric elastomer actuators |
VerfasserIn: | Prechtl, J. Kunze, J. Moretti, G. Bruch, D. Seelecke, S. Rizzello, G. |
Sprache: | Englisch |
Titel: | Smart Materials and Structures |
Bandnummer: | 31 (2022) |
Heft: | 1 |
Verlag/Plattform: | IOP Publishing |
Erscheinungsjahr: | 2021 |
DDC-Sachgruppe: | 500 Naturwissenschaften |
Dokumenttyp: | Journalartikel / Zeitschriftenartikel |
Abstract: | Due to their large deformation, high energy density, and high compliance, dielectric elastomer actuators (DEAs) have found a number of applications in several areas of mechatronics and robotics. Among the many types of DEAs proposed in the literature, rolled DEAs (RDEAs) represent one of the most popular configurations. RDEAs can be effectively used as compact muscle-like actuators for soft robots, since they allow eliminating the need for external motors or compressors while providing at the same time a flexible and lightweight structure with self-sensing capabilities. To effectively design and control complex RDEA-driven systems and robots, accurate and numerically efficient mathematical models need to be developed. In this work, we propose a novel lumped-parameter model for silicone-based, thin and tightly rolled RDEAs. The model is grounded on a free-energy approach, and permits to describe the electro-mechanically coupled response of the transducer with a set of nonlinear ordinary differential equations. After deriving the constitutive relationships, the model is validated by means of an extensive experimental campaign, conducted on three RDEA specimens having different geometries. It is shown how the developed model permits to accurately predict the effects of several parameters (external load, applied voltage, actuator geometry) on the RDEA electro-mechanical response, while maintaining an overall simple mathematical structure. |
DOI der Erstveröffentlichung: | 10.1088/1361-665X/ac34be |
URL der Erstveröffentlichung: | https://iopscience.iop.org/article/10.1088/1361-665X/ac34be |
Link zu diesem Datensatz: | urn:nbn:de:bsz:291--ds-404705 hdl:20.500.11880/36358 http://dx.doi.org/10.22028/D291-40470 |
ISSN: | 1361-665X 0964-1726 |
Datum des Eintrags: | 1-Sep-2023 |
Fakultät: | NT - Naturwissenschaftlich- Technische Fakultät |
Fachrichtung: | NT - Systems Engineering |
Professur: | NT - Prof. Dr. Stefan Seelecke |
Sammlung: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
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