论文期刊

Linear Control of multi-electrode Dielectric Elastomer Actuator with a Finite Element Mode




作者: Kun Jia, Mian Wang, Tongqing Lu, Tiejun Wang
发表/完成日期: 2019-06-15
期刊名称: International Journal of Mechanical Sciences
期卷:
相关文章:
论文简介
Soft robots have shown overwhelming performance compared to the hard ones in many fields. Autonomous
movement of soft robots requires compatible actuators with good controllability. Although dielectric elastomer
actuator (DEA) has the attributes of fast response and low density, the intrinsic nonlinear behavior encumbers its
application in position control, especially for multiple degree of freedom (DOF). Here, we present a multi-elec-
trode DEA based positioning system with linear output controller. Selectively actuating the isolated electrodes
with a compact multi-channel power supply, translation and rotation can be achieved. Considering that the volt-
age-induced deformation of DEA is rather complex, numerical analysis using commercial finite-element package
is proposed to investigate the influence of configuration and actuation manner on the output. Four-quadrant DEA
is employed to build the positioning system for its optimal performance. According to the calculated voltage-dis-
placement relationship, a linear controller is established and experiments are performed. Coexisting-electrode
DEA with linear output has the potential in multi-DOF positioning system, such as antenna adjustment for soft
robots with remote telecontrol. The proposed finite element method is very convenient and user-friendly, espe-
cially for the users without computation background.
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