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首页> 外文期刊>IEEE Transactions on Robotics >Modeling of Viscoelastic Electromechanical Behavior in a Soft Dielectric Elastomer Actuator
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Modeling of Viscoelastic Electromechanical Behavior in a Soft Dielectric Elastomer Actuator

机译：软介电弹性体驱动器中粘弹性机电行为的建模

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摘要

Soft dielectric elastomer actuators (DEAs) exhibit interesting muscle-like behavior for the development of soft robots. However, it is challenging to model these soft actuators due to their material nonlinearity, nonlinear electromechanical coupling, and time-dependent viscoelastic behavior. Most recent studies on DEAs focus on issues of mechanics, physics, and material science, while much less importance is given to quantitative characterization of DEAs. In this paper, we present a detailed experimental investigation probing the voltage-induced electromechanical response of a soft DEA that is subjected to cyclic loading and propose a general constitutive modeling approach to characterize the time-dependent response, based on the principles of nonequilibrium thermodynamics. In this paper, some of the key observations are found as follows: 1) Creep exhibits the drift phenomenon, and is dominant during the first three cycles. The creep decreases over time and becomes less dominant after the first few cycles; 2) a significant amount of hysteresis is observed during all cycles and it becomes repeatable after the first few cycles; 3) the peak of the displacement is shifted from the peak of the voltage signal and occurs after it. To account for these viscoelastic phenomena, a constitutive model is developed by employing several dissipative nonequilibrium mechanisms. The quantitative comparisons of the experimental and simulation results demonstrate the effectiveness of the developed model. This modeling approach can be useful for control of a viscoelastic DEA and paves the way to emerging applications of soft robots.
机译：软介电弹性体执行器（DEA）在软机器人的开发中表现出有趣的类似肌肉的行为。然而，由于这些软致动器的材料非线性，非线性机电耦合以及随时间变化的粘弹性行为，因此对它们建模是一项挑战。关于DEA的最新研究集中在力学，物理和材料科学问题上，而对DEA的定量表征的重视程度则要低得多。在本文中，我们提出了一个详细的实验研究，以探测软DEA的电压感应机电响应，该DEA承受循环载荷，并基于非平衡热力学原理，提出了一种通用的本构建模方法来表征随时间变化的响应。在本文中，一些关键的发现如下：1）蠕变表现出漂移现象，并且在前三个周期中占主导地位。蠕变随着时间的推移而减小，并且在最初的几个循环后变得不那么占主导地位。 2）在所有循环中都观察到大量的磁滞现象，并且在最初的几个循环后可重复； 3）位移的峰值从电压信号的峰值移出并在其之后出现。为了解决这些粘弹性现象，通过采用几种耗散性非平衡机制来开发本构模型。实验和仿真结果的定量比较证明了所开发模型的有效性。这种建模方法可用于控制粘弹性DEA，并为软机器人的新兴应用铺平了道路。

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  • 来源
    《IEEE Transactions on Robotics》 |2017年第5期|1263-1271|共9页
  • 作者

    Guo-Ying Gu; Ujjaval Gupta; Jian Zhu; Li-Min Zhu; Xiangyang Zhu;

  • 作者单位

    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

    Department of Mechanical Engineering, National University of Singapore, Singapore;

    Department of Mechanical Engineering, National University of Singapore, Singapore;

    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

    State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Actuators; Robots; Creep; Loading; Hysteresis; Load modeling; Thermodynamics;

    机译：执行器;机器人;蠕变;载荷;磁滞;载荷建模;热力学;

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