Open-Loop Control of Creep and Vibration in Dielectric Elastomer Actuators With Phenomenological Models

Zou, Jiang; Zhu, Limin

doi:10.1109/tmech.2016.2591069

Cited by 68 publications

(33 citation statements)

References 31 publications

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“…A cone DEA is named after its conical geometry, where an elastomer membrane with a rigid circular frame is deformed out of plane by a protrusion force, which is generated by a central biasing element. The output performance of a cone DEA is highly dependent on its biasing mechanisms, such as a bistable mechanism [14][15][16][17], a deadweight [15,[18][19][20][21], a linear compression spring [13], and an antagonistic mechanism [12,[22][23][24][25][26][27][28]. When a DEA membrane pair is coupled in an antagonistic manner, the biasing force shapes a double conical configuration where the two DEA membranes can be actuated independently to achieve antagonistic actuation (known as a "double-cone DEA").…”

Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

et al. 2019

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A magnetically coupled dielectric elastomer actuator (MCDEA) is an emerging two-degree-of-freedom DEA system that demonstrates rich dynamic behaviors and promising potential applications in robotics, energy harvesting, and smart structures. However, the three-dimensional geometry, nonlinearity, and viscoelasticity in the system lead to complex nonlinear dynamic behavior that is challenging to predict. In this work, we develop a numerical model that can accurately characterize its dynamic responses. This model, along with experimental results, demonstrates the complex dynamic phenomena of this MCDEA system, including superharmonic, primary-harmonic, and subharmonic resonances, bifurcations, and multiple modes of oscillation. Dynamic control strategies including phase tuning and frequency control are proposed in this work, allowing control of the amplitude and the appearance of a specific resonance and the occurrence of emerging dynamic behaviors, such as beat phenomena. These findings have numerous additional applications in areas including active vibrational control, energy harvesting, and programmable soft motors for on-demand locomotion.

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Section: Introductionmentioning

confidence: 99%

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

et al. 2019

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“…This work confirms that a DEAs trajectory can be finely controlled with a solid nonlinear dynamic model despite the presence of material nonlinearities and electromechanical coupling. Different from the physical-based modeling approach, a phenomenological model based feedforward control approach was proposed for both the creep and vibration compensation of a circular DEA [160]. The experimental results demonstrated that the creep of the DEA was reduced from 20% into less than 7%, and the overshoot initially about 38.72% was almost completely removed.…”

Section: Controlmentioning

confidence: 99%

Analysis and application of a rolled dielectric elastomer actuator with two degrees of freedom

Wang

Zhu

et al. 2016

Smart Mater. Struct.

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Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/ density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

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“…However, they require stationary power sources and accessories such as air pump and valves. Dielectric elastomer actuators [9], [10] are popularly referred to as artificial muscles because of their actuation speed, low density, and silent operation. Unfortunately, they demand high operating voltages-preventing their operation with onboard batteries.…”

Section: Introduction Brief Literature Review Paper Contributionmentioning

confidence: 99%

Dynamic Actuator Selection and Robust State-Feedback Control of Networked Soft Actuators

Ebrahimi¹,

Nugroho²,

Taha³

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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The design of robots that are light, soft, powerful is a grand challenge. Since they can easily adapt to dynamic environments, soft robotic systems have the potential of changing the status-quo of bulky robotics. A crucial component of soft robotics is a soft actuator that is activated by external stimuli to generate desired motions. Unfortunately, there is a lack of powerful soft actuators that operate through lightweight power sources. To that end, we recently designed a highly scalable, flexible, biocompatible Electromagnetic Soft Actuator (ESA). With ESAs, artificial muscles can be designed by integrating a network of ESAs. The main research gap addressed in this work is in the absence of system-theoretic understanding of the impact of the realtime control and actuator selection algorithms on the performance of networked soft-body actuators and ESAs. The objective of this paper is to establish a framework that guides the analysis and robust control of networked ESAs. A novel ESA is described, and a configuration of soft actuator matrix to resemble artificial muscle fiber is presented. A mathematical model which depicts the physical network is derived, considering the disturbances due to external forces and linearization errors as an integral part of this model. Then, a robust control and minimal actuator selection problem with logistic constraints and control input bounds is formulated, and tractable computational routines are proposed with numerical case studies.

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Open-Loop Control of Creep and Vibration in Dielectric Elastomer Actuators With Phenomenological Models

Cited by 68 publications

References 31 publications

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

Nonlinear Dynamics of a Magnetically Coupled Dielectric Elastomer Actuator

Analysis and application of a rolled dielectric elastomer actuator with two degrees of freedom

Dynamic Actuator Selection and Robust State-Feedback Control of Networked Soft Actuators

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