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Nonlinear elastic modeling of differential expansion in trilayer conjugated polymer actuators

机译：三层共轭聚合物致动器微分膨胀的非线性弹性建模

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摘要

Conjugated polymers are promising actuation materials for biomimetic robots and biomedical devices. Large bending is involved in some of these applications. This poses significant challenges in electromechanical modeling, because the linear elasticity theory is only valid when the strain is small. In this paper an effective strategy based on the nonlinear elasticity theory is proposed to model the mechanical output of a trilayer conjugated polymer beam under actuation. Instead of using the elastic modulus as in the linear elasticity theory, we use a nonlinear strain energy function to capture the stored elastic energy under actuation-induced swelling, which further allows us to compute the induced stress. The deformation variables are obtained by numerically solving the force and bending moment balance equations simultaneously. Experimental results have demonstrated that the proposed model shows superiority over the linear model, and is able to capture the actuation behavior well under large actuation voltages. The proposed framework can also be applied to the analysis of large deformations in some other electroactive polymers.
机译：共轭聚合物是用于仿生机器人和生物医学设备的有前途的驱动材料。其中一些应用涉及大弯曲。这对机电建模提出了重大挑战，因为线性弹性理论仅在应变较小时才有效。本文提出了一种基于非线性弹性理论的有效策略来对三层共轭聚合物梁在驱动下的机械输出进行建模。代替线性弹性理论中的弹性模量，我们使用非线性应变能函数来捕获在驱动诱发的膨胀下存储的弹性能，这进一步允许我们计算诱发的应力。通过同时对力和弯矩平衡方程进行数值求解来获得变形变量。实验结果表明，所提出的模型具有优于线性模型的优越性，并且能够在大的激励电压下很好地捕获激励行为。所提出的框架还可以用于分析其他一些电活性聚合物中的大变形。

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