High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation

Zou, Jiang

doi:10.1109/tmech.2018.2873620

Cited by 72 publications

(35 citation statements)

References 28 publications

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“…As shown in Figure 10, the resulting axial strain ε x oscillates with time. In the first few cycles, we observe remarkable viscoelastic creep which captures the drift effect of the resulting deformation of the DE material when the applied voltage keeps unchanged [44]. The axial strain tends to be stable gradually (discrepancies between peak values are less than 0.3% after 14 cycles).…”

Section: Resultsmentioning

confidence: 81%

A Unidirectional Soft Dielectric Elastomer Actuator Enabled by Built-In Honeycomb Metastructures

Liu

Chen

et al. 2020

Polymers

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Dielectric elastomer actuators (DEAs) are able to undergo large deformation in response to external electric stimuli and have been widely used to drive soft robotic systems, due to their advantageous attributes comparable to biological muscles. However, due to their isotropic material properties, it has been challenging to generate programmable actuation, e.g., along a predefined direction. In this paper, we provide an innovative solution to this problem by harnessing honeycomb metastructures to program the mechanical behavior of dielectric elastomers. The honeycomb metastructures not only provide mechanical prestretches for DEAs but, more importantly, transfer the areal expansion of DEAs into directional deformation, by virtue of the inherent anisotropy. To achieve uniaxial actuation and maximize its magnitude, we develop a finite element analysis model and study how the prestretch ratios and the honeycomb structuring tailor the voltage-induced deformation. We also provide an easy-to-implement and scalable fabrication solution by directly printing honeycomb lattices made of thermoplastic polyurethane on dielectric membranes with natural bonding. The preliminary experiments demonstrate that our designed DEA is able to undergo unidirectional motion, with the nominal strain reaching up to 15.8%. Our work represents an initial step to program deformation of DEAs with metastructures.

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Section: Resultsmentioning

confidence: 81%

A Unidirectional Soft Dielectric Elastomer Actuator Enabled by Built-In Honeycomb Metastructures

Liu

Chen

et al. 2020

Polymers

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“…In recent years, attention to DEA's dynamic actuation has grown. Several experiments have observed and reported the time-dependent behavior of DEAs due to their viscoelastic effect [47][48][49][50][51][52][53]. Cyclic loading simulations and experiments reveal a distinct temporal evolution behavior, which can be characterized by transient and stable regions.…”

Section: Defining the Nominal Density Of The Helmholtz Free Energy Bymentioning

confidence: 99%

“…As a DE's nonlinearity and time-dependent behavior are being analyzed and understood, methods of controlling such nonlinear actuators are being studied as well. In 2019, a high-precision control method using inverse viscoelastic hysteresis compensation was proposed [50,51]. Authors used a feedforward inverse hysteresis controller with a phenomenological hysteresis model to compensate for the DEA's hysteresis, and combined it with a classical proportional-integral feedback controller to compensate for the creeping behavior.…”

Section: Defining the Nominal Density Of The Helmholtz Free Energy Bymentioning

confidence: 99%

“…Authors used a feedforward inverse hysteresis controller with a phenomenological hysteresis model to compensate for the DEA's hysteresis, and combined it with a classical proportional-integral feedback controller to compensate for the creeping behavior. Experiments were performed with conical out-of-plane DEAs, and results show a high-precision control with a maximum tracking error of 3.95% [51]. Along with a closed-loop control method, a comparatively simple open-loop control of DEAs was proposed by Rosset and his colleagues.…”

Section: Defining the Nominal Density Of The Helmholtz Free Energy Bymentioning

confidence: 99%

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Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

et al. 2020

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This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft robots. This paper begins with the introduction of the working principle of the dielectric elastomer actuators. Because the operation of DEA includes the physics of both mechanical viscoelastic properties and dielectric characteristics, we describe theoretical modeling methods for the DEA before introducing applications. In addition, the design of artificial muscles based on DEA is also introduced. This paper reviews four popular subjects for the application of DEA: soft robot hand, locomotion robots, wearable devices, and tunable optical components. Other potential applications and challenging issues are described in the conclusion.

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“…the VHB-based DEAs show serious viscoelastic nonlinearity that makes the precision tracking control challenge [36][37][38][39][40][41].…”

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confidence: 99%

Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

Gao

Fan

et al. 2019

Nano-Micro Lett.

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High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation

Cited by 72 publications

References 28 publications

A Unidirectional Soft Dielectric Elastomer Actuator Enabled by Built-In Honeycomb Metastructures

A Unidirectional Soft Dielectric Elastomer Actuator Enabled by Built-In Honeycomb Metastructures

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Cell Nanomechanics Based on Dielectric Elastomer Actuator Device

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