Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom

Subject Areas : robotics

Yaser Hesari ¹ , Shahram Etemadi Haghighi ²

1 - Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
2 - Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran

Received: 2017-12-23 Accepted : 2018-05-10 Published : 2018-09-01

Keywords:

References:

[1]     Jung, K., Kim, K. J. and Choi, H. R., A Self-Sensing Dielectric Elastomer Actuator, Sensors and Actuators A: Physical, Vol. 143, No. 2, pp. 343-351.

[2]     Koo, J. C., Choi, H. R., Jung, M. Y., Jung, K. M., Nam, J. D. and Lee, Y. K., Design and Control of Three-DOF Dielectric Polymer Actuator, Key Engineering Materials, Vol. 297, 2005, pp. 665-670.

[3]     He, T., Zhao, X. and Suo, Z., Equilibrium and Stability of Dielectric Elastomer Membranes Undergoing Inhomogeneous Deformation, Journal of Applied Physics, Vol. 106, No. 8, 083522, pp. 1-28.

[4]     He, T., Cui, L., Chen, C. and Suo, Z., Nonlinear Deformation Analysis of a Dielectric Elastomer Membrane–Spring System, Smart Materials and Structures, Vol. 19, No. 8, 085017, pp. 1-7.

[5]     Luan, Y., Wang, H. and Zhu, Y., Design and Implementation of Cone Dielectric Elastomer Actuator with Double-Slider Mechanism, Journal of Bionic Engineering, Vol. 7, 2010, pp. S212-S217.

[6]     Conn, A. T., Rossiter, J., Antagonistic Dielectric Elastomer Actuator for Biologically-Inspired Robotics, SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring, Vol. 7976, 2011, pp. 79761Z1-79761Z10.

[7]     He, T., Miao, G. and Chen, C., The Effect of Pre Stretch on the Performance of a Dielectric Elastomer Membrane, Remote Sensing, Environment and Transportation Engineering (RSETE), Jun. 2011, pp. 6463-6467.

[8]     Conn, A. T., Rossiter, J., Towards Homonymic Electro-Elastomer Actuators with Six Degrees of Freedom, Smart Materials and Structures, Vol. 21, No. 3, 035012, pp. 1-9.

[9]     Branz, F., Sansone, F. and Francesconi, A., Design of an Innovative Dielectric Elastomer Actuator for Space Applications, SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring, Vol. 9056, 2014, pp. 90560Z1-90560Z10.

[10]  Branz, F., Antonello, A., Carron, A., Carli, R. and Francesconi, A., Kinematics and Control of Redundant Robotic Arm Based on Dielectric Elastomer Actuators, SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring, Vol. 9430, 2015, 943023, pp. 1-13.

[11]  Branz, F., Francesconi, A., Modelling and Control of Double-Cone Dielectric Elastomer Actuator, Smart Materials and Structures, Vol. 25, No. 9, pp. 095040.

[12]  Wang, P., Conn, A. T., Elastic Cube Actuator with Six degrees of Freedom Output, Actuators Vol. 4, No. 3, pp. 203-216.

[13]  Nguyen, C. T., Phung, H., Nguyen, T. D., Jung, H. and Choi, H. R., Multiple-Degrees-of- Freedom Dielectric Elastomer Actuators for Soft Printable Hexapod Robot, Sensors and Actuators A: Physical, Vol. 267, 2017, pp. 505-516.

[14] Hau, S., York, A. and Seelecke, S., Performanc Eprediction of Circular Dielectric Electro-Active Polymers Membrane Actuators with Various Geometries, Electroactive Polymer Actuators and Devices (EAPAD), Vol. 9430, 2015, pp. 94300C1- 94300C8.