Modeling of Fiber-Constrained Planar PVC Gel Actuators

Abstract

In recent years, plasticized poly (vinyl chloride) (PVC) gel has attracted increasing attention in soft robotics. However, there is scarce research on the deformation mechanism and modeling of PVC gel actuators. In this study, to investigate the deformation mechanism of fiber-constrained planar PVC gel actuators, we propose a complex nonlinear model based on traditional thermodynamic electroactive polymer (EAP) multi-field coupling theory. The proposed model can reveal the dielectric breakdown strength of PVC gels and predict the deformation of planar PVC gel actuators with varying levels of pre-stretching. The theoretical results were in good agreement with the experimental results, indicating the feasibility of the proposed model.

Deformation theory and nonlinear dynamic behavior of PVC gel actuators

“…We have established a theoretical model of PVC film from prestretching to an actuated state, and figure 3(a) illustrates the initial state of PVC film with length L l , width L w and thickness L h in three main directions (directions x, y and z). The PVC film is incompressible [19], it has a density of ρ and is covered with flexible electrodes on both sides, assuming that the resistance and mechanical rigidness of the electrodes are negligible. The film is then attached to the frame, which can slide outwardly in direction y, while the film can also be stretched in direction x and without constraining the deformation of the film in the thickness direction.…”

“…Assuming deformation at a constant temperature, the thermodynamic properties of a PVC film can be described by the Helmholtz free energy of the system [19,31], for an ideal PVC gel, the contribution of deformation and polarisation to the free energy production is independent and it is affected by two independent variable energy functions which can be expressed as…”

“…In recent years, in addition to the significant progress made in the development of practical experimental applications of PVC gels, there has also been some research focused on the theoretical deformation modeling of PVC gels and their actuators. For example, Li et al [19] Provide a deformation theory for fiber-constrained PVC gels and allow prediction of the electrical response at different levels of pre-stretch and voltage amplitude. Frank et al [20] simulated the deformation of a PVC gel actuator with mesh electrodes using the finite element method.…”

Study on deformation theory and resonance frequency of circular-plane PVC actuator

“…In addition, researchers have also made some progress in the research field of the PVC actuator deformation theoretical model. For example, Li et al [24] proposed a numerical model based on thermodynamics and theoretical deformation of a PVC gel actuator with a fiber-constrained structure, and was able to predict the electrical response of the PVC gel actuator under different horizontal pre-stretching and voltage amplitudes. Frank et al [25] used the finite element method to simulate the deformation of a PVC gel actuator with mesh electrodes.…”