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Design,fabrication,and realisation of a robotic fish actuated by dielectric elastomer with a passive fin

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IET Cyber-Systems and Robotics 2023年第2期5卷 48-55页

作者： Zekai Wang Junqiang Lou Xingdong Xiao Guoping Li Yimin Deng College of Mechanical and Electrical Engineering Zhejiang Industrial Polytechnic CollegeShaoxingChina College of Mechanical Engineering and Mechanics Ningbo UniversityNingboChina State Key Laboratory of Industrial Control Technology Zhejiang UniversityHangzhouChina

Robotic fish actuated by smart materials has attracted extensive attention and has been widely used in many *** this study,a robotic fish actuated by dielectric elastomer(DE)films is *** tensile behaviours of DE film VHB4905 are studied,and the Ogden constitutive equation is employed to describe the stress‐strain behaviour of the DE *** fabrication processes of the robotic fish,including prestretching treatment of the DE films,electrode coating with carbon paste,and waterproof treatment,are illustrated in *** dynamic response of the fabricated DE actuators under different excitation voltages is tested based on the experimental *** results show that the first‐order natural frequencies of the obtained DE actuator in air is 4.05 ***,the swimming performances of the proposed robotic fish at different driving levels are demonstrated,and it achieves an average swimming speed of 20.38 mm/s,with a driving voltage of 5kV at 0.8 Hz.

关键词： dielectric elastomer fabrication robotic fish swimming performances

Optimal biaxial prestretch ratios of soft dielectric elastomer actuators for maximal voltage-induced displacement

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Science China(Technological Sciences) 2023年第10期66卷 2871-2881页

作者： LUO Kai WU JiaNing CHEN FeiFei School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Meta Robotics Institute Shanghai Jiao Tong UniversityShanghai 200240China

Prestretch plays an indispensable role in programming the voltage-induced deformation of dielectric elastomer actuators(DEAs).However,lacking rational design methods,the level of prestretch is usually determined through time-consuming experiments and trial-and-error *** this paper,we aim to quantitatively determine the optimal biaxial prestretch ratios for maximizing the voltage-induced displacement of *** on the Lagrange method and adjoint sensitivity analysis,we obtain the derivative of the displacement field with respect to the principal prestretch ratios,in which the nonlinearities and complex electromechanical coupling of DEAs are rigorously taken into *** derivative information allows for performing gradient-based optimization at a high convergence *** propose a comprehensive optimization framework connecting the nonlinear finite element analysis and sensitivity analysis to iteratively identify the optimal prestretch *** validate our method on two classical types of DEAs,i.e.,planar DEAs with fixed boundaries and free-standing three-dimensional dielectric elastomer minimum energy structures(DEMES).The simulation and experiment results both show that remarkable improvements in concerned displacements are obtained compared with the non-optimized designs.

关键词： dielectric elastomer prestretch ratios design optimization

Design and properties of calcium copper titanate/poly(dimethyl siloxane) dielectric elastomer composites

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Rare Metals 2021年第9期40卷 2627-2632页

作者： Yi-Yang Zhang Yang Min Gen-Lin Wang Zhi-Feng Wang Jun-Liang Liu Zhi-Wei Luo Ming Zhang School of System Informatics Kobe UniversityKobe 657-8501Japan School of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225002China

The high phase content of inorganic dielectric fillings will give a strong electric driving force and hard matrix. That is a contradiction in enhancing the electrodeformation of dielectric elastomers(DEs). Therefore, in this paper, by focusing on how to approach a balance between these and finding an effective way to tune the electric response of the DEs, the theoretical calculation and experimental investigation based on calcium copper titanate(CCTO)/poly(dimethyl siloxane)(PDMS) were carried out. It is found that CCTO with a smaller particle size shows a larger dielectric parameter. With smaller CCTO particle as the fillings, the fabricated elastomer composite would approach to a low modulus by a proper CCTO phase morphology in the matrix.

关键词： dielectric elastomer Electro-deformation Phase morphology Modulus control

Advances in dielectric elastomer actuation technology

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Science China(Technological Sciences) 2018年第10期61卷 1512-1527页

作者： WANG NianFeng CUI ChaoYu GUO Hao CHEN BiCheng ZHANG XianMin Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology South China University of Technology

dielectric elastomer actuators(DEAs) have attracted much interest over the past decades due to the inherent flexibility, large strain, high efficiency, high energy density, and fast response of the material, which are known as one of the most promising candidates for artificial muscle. In this paper, we first introduce the actuation principle and electromechanical modeling approaches of dielectric elastomers(DEs). Then, the performance of different DEs material and existing compliant electrodes that are widely utilized for DEAs are presented. We also highlight the compatibility of DEs, which is suitable for a variety of actuator designs and applications. Lastly, we summarize the challenges and future development in terms of electromechanical modeling, improvement of materials including compliant electrodes and dielectric elastomer, designs and applications of novel dielectric elastomer actuators.

关键词： dielectric elastomer electromechanical modeling compliant electrodes actuator

Performance Investigation of Cone dielectric elastomer Actuator Using Taguchi Method

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 685-692页

作者： WANG Huaming ZHU Yinglong ZHAO Dongbiao LUAN Yunguang College of Mechanical and Electrical Engineering Nanjing University of Aeronautics andAstronautics Nanjing 210016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 110016 China Engineering Institute of Engineering Corps PLA University of Science and Technology Nanjing 210007 China

dielectric elastomer actuator （DEA） show promise for mechatronic applications due to the advantages of dielectric elastomer, such as lightweight, flexible, low cost, high strain, etc, and many configurations of DEAs have been demonstrated. As a kind of linear actuator, cone DEAs are studied in some laboratory prototypes due to easy manufacturing, however, their performance have not been exploited fully. Based on the working principle of DEA, a four-bar linkage mechanism is designed to provide negative stiffness preload, which can increase displacement output of actuator （outer diameter 100 mm） to 17 mm. Three cone actuating units are assembled in parallel to enhance the maximum force output to 5.07 N. Loading experiments of actuator in forward and backward strokes are performed, the experimental results show that backward stroke has stronger actuating capability than forward stroke, accordingly application of actuator is recommended. Four factors rather than applied voltage, i.e., number of actuating units, pre-stretch ratio, inner diameter, and outer diameter, are determined as influencing factors for Taguchi method. Then the performance objectives of actuator, i.e., displacement output, maximum force output, and maximum work in backward stroke, are investigated based on L9（34） Taguchi orthogonal design. The mean signal-to-noise （S/N） ratio based on the larger-the-better criterion is calculated according to the acquired displacement and force output. Analytical results show that outer diameter has the most significant influence on displacement output, and maximum force out and work output are influenced most by number of actuating units. Inner diameter also has an important effect on the performance objectives of actuator, while pre-stretch ratio has the least influence. The proposed performance investigation is helpful for the design and application of cone actuator in mechatronic system.

关键词： dielectric elastomer actuator performance objective Taguchi method

Incremental harmonic balance method for periodic forced oscillation of a dielectric elastomer balloon

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Applied Mathematics and Mechanics(English Edition) 2020年第3期41卷 459-470页

作者： Yin WANG Ling ZHANG Jinxiong ZHOU State Key Laboratory Base of Eco-hydraulic Engineering in Arid Area Xi’an University of TechnologyXi’an 710048China State Key Laboratory for Strength and Vibration of Mechanical Structures Shaanxi Engineering Laboratory for Vibration Control of Aerospace StructuresSchool of AerospaceXi’an Jiaotong UniversityXi’an 710049China

dielectric elastomer(DE) is suitable in soft transducers for broad applications,among which many are subjected to dynamic loadings, either mechanical or electrical or both. The tuning behaviors of these DE devices call for an efficient and reliable method to analyze the dynamic response of DE. This remains to be a challenge since the resultant vibration equation of DE, for example, the vibration of a DE balloon considered here is highly nonlinear with higher-order power terms and time-dependent coefficients. Previous efforts toward this goal use largely the numerical integration method with the simple harmonic balance method as a supplement. The numerical integration and the simple harmonic balance method are inefficient for large parametric analysis or with difficulty in improving the solution accuracy. To overcome the weakness of these two methods,we describe formulations of the incremental harmonic balance(IHB) method for periodic forced solutions of such a unique system. Combined with an arc-length continuation technique, the proposed strategy can capture the whole solution branches, both stable and unstable, automatically with any desired accuracy.

关键词： dielectric elastomer nonlinear oscillation incremental harmonic method arc-length continuation

A Visco-hyperelastic Constitutive Model for Temperature-Dependent Cyclic Deformation of dielectric elastomer

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Acta Mechanica Solida Sinica 2024年第5期37卷 736-749页

作者： Weiyang Huang Kaijuan Chen Pengyu Ma Guozheng Kang School of Mechanics and Aerospace Engineering Southwest Jiaotong UniversityChengdu610031China

Since dielectric elastomers(DEs)exhibit obvious nonlinear visco-hyperelasticity,and remarkable temperature dependence,it is difficult to accurately predict the cyclic deformation of DEs at various *** address this issue,an improved visco-hyperelastic constitutive model is proposed here to reproduce the complex temperature-dependent cyclic deformation of *** the improved model,the Ogden model is chosen to provide the strain energy density representing the hyper-elastic response,a nonlinear viscosity evolution equation is used to depict the strong viscosity of DEs,and specific temperature-dependent parameters are incorporated to describe the cyclic deformation of DEs at various ***,the prediction capability of the proposed visco-hyperelastic model is validated by reproducing the cyclic deformation of VHB 4910 DE observed in experiments at different *** study provides a theoretical basis for the rational design of DE devices.

关键词： dielectric elastomer Cyclic deformation Visco-hyperelasticity Constitutive model Temperature

Thermoelectromechanical instability of dielectric elastomer undergoes polarization saturation and temperature variation

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Acta Mechanica Sinica 2021年第3期37卷 414-421,I0001页

作者： Yaguang Guo Liwu Liu Yanju Liu Jinsong Leng Department of Astronautical Science and Mechanics Harbin Institute of TechnologyHarbin 150001.China Center for Composite Materials and Structures Science Park of Harbin Institute of TechnologyHarbin 150080China

When the electric field caused by voltage reaches a certain level,the charge on the compliant electrodes will not increase owing to the polarization saturation,which would limit the deformation of the dielectric *** experiments show that temperature also has a significant effect on the deformation of dielectric *** this work,a free energy model coupling temperature and polarization saturation is developed to characterize the thermoelectromechanical instability of dielectric *** results reveal that both the polarization saturation parameters and electric field have a significant influence on the actuation ability of the dielectric elastomer,and the increase of temperature enhances thermoelectromechanical *** is hoped that this work could guide the development of dielectric elastomer materials and application devices operating in variable temperatures.

关键词： dielectric elastomer Thermoelectromechanical instability Polarization saturation Temperature variation

Method towards optimal design of dielectric elastomer actuated soft machines

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Science China(Technological Sciences) 2018年第7期61卷 959-964页

作者： LIU Fan SUN WenJie ZHAO Xuan LI ChengHai ZHOU JinXiong State Key Laboratory for Strength and Vibration of Mechanical Structures and Shaanxi Engineering Laboratory for Vibration Control of Aerospace Structures Xi'an Jiaotong University School of Mechanical and Precision Instrument Engineering Xi'an University of Technology School of Aerospace Engineering Tsinghua University

Soft machines are combinations of hard and soft active materials, thus the coupling and interaction between soft and hard components dictate the performance of soft machines. Structural optimization has been intensively used for design of conventional hard machines, while, to our best knowledge, few attempts have been made towards optimal design of soft machines. Here, we describe the sizing optimization problem of a dielectric elastomer(DE) actuated mechanical amplifier, and achieve the optimal design through combination of a commercial finite element method(FEM) software and an optimization automation *** then design, fabricate and demonstrate a locomotive soft machine driven by DE actuator with amplified displacement *** methodology and results present here open the door towards optimal designs of active materials based soft machines.

关键词： soft machine dielectric elastomer structural optimization finite element method mechanical amplifier