Optimal Design of Lozenge-shaped Dielectric Elastomer Linear Actuators: Mathematical Procedure and Experimental Validation

Abstract

A novel mathematical procedure is presented, which makes it possible to optimize lozenge-shaped dielectric-elastomer-based linear actuators for known materials and desired force/stroke requirements. Simulation and experimental results are provided which both demonstrate the efficacy of the proposed optimization procedure with respect to traditional design approaches and show that simpler, cheaper, lighter, and better-behaved lozenge-shaped actuators can be conceived, which do not require any integration of compliant frame elements.

Modeling and Control of Lozenge-Shaped Dielectric Elastomer Generators

“…In static condition and in absence of electrical activation, the elastic force F off is given by [13]  …”

“…For what concerns the stress, the electrical activation of the DE membrane is responsible for a planar stress,  em , of electrostatic origin in the form  em =E 2 [13], with E being the electric field acting across the DE membrane. Thus, for the activated case, equations (4) become…”

“…In the present work, the Lozenge-Shaped DEG (LS-DEG) is studied via preliminary experiments and theoretical arguments. In particular, the paper: 1) presents three hyperelastic models of the LS-DEG that are fitted to a set of experimental tests conducted on a commercial DE membrane; 2) introduces a model to predict the failure conditions that limit the maximum electrical energy per unit volume that can be converted by LS-DEGs; 3) defines a procedure for the choice of the optimal design parameters that maximize the electricity [13], who proposed a mathematical procedure that optimizes the behavior of the device when used as an actuator. However, the analysis and optimization of the LS-DEG requires a different approach and has not been presented in previous researches.…”

A miniaturized optical force sensor for tendon-driven mechatronic systems: Design and experimental evaluation

“…Compliant mechanisms are often used for the implementation of linear actuators using smart materials [28,29], for the development of compliant transmission system [30] or as displacement/ force magnifiers [31,32]. With respect to previous solutions, the particular characteristic of the proposed sensor is that it can be mounted in any position along the tendon and it does not need to be designed as a structural element, i.e.…”

Compliant actuation based on dielectric elastomers for a force-feedback device: modeling and experimental evaluation

“…ielectric Elastomer (DE) films are visco-elastic capacitors which experience deviatoric deformations and/or generate forces when subjected to high electric potential (voltage) differences [1,2]. Thanks to the large force and power densities, relevant compliance and damping, and low effective inertia and cost, DE actuators are a promising technology for the development of affordable mechatronic and robotic systems that have to interact effectively, efficiently and safely with unstructured environments and humans [3].…”