Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2023
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2308.01675 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866909070647099392 |
|---|---|
| author | Sohlbach, Lukas Hobbani, Hamza Blase, Chistopher Perez-Peña, Fernando Schmidt, Karsten |
| author_facet | Sohlbach, Lukas Hobbani, Hamza Blase, Chistopher Perez-Peña, Fernando Schmidt, Karsten |
| contents | In order to fully harness the potential of dielectric elastomer actu-ators (DEAs) in soft robots, advanced control methods are need-ed. An important groundwork for this is the development of a control-oriented model that can adequately describe the underly-ing dynamics of a DEA. A common feature of existing models is that always custom-made DEAs were investigated. This makes the modelling process easier, as all specifications and the struc-ture of the actuator are well known. In the case of a commercial actuator, however, only the information from the manufacturer is available and must be checked or completed during the modelling process. The aim of this paper is to explore how a commercial stacked silicone-based DEA can be modelled and how complex the model should be to properly replicate the features of the actu-ator. The static description has demonstrated the suitability of Hooke's law. In the case of dynamic description, it is shown that no viscoelastic model is needed for control-oriented modelling. However, if all features of the DEA are considered, the general-ized Kelvin-Maxwell model with three Maxwell elements shows good results, stability and computational efficiency. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2308_01675 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Modelling and simulation of a commercially available dielectric elastomer actuator Sohlbach, Lukas Hobbani, Hamza Blase, Chistopher Perez-Peña, Fernando Schmidt, Karsten Robotics In order to fully harness the potential of dielectric elastomer actu-ators (DEAs) in soft robots, advanced control methods are need-ed. An important groundwork for this is the development of a control-oriented model that can adequately describe the underly-ing dynamics of a DEA. A common feature of existing models is that always custom-made DEAs were investigated. This makes the modelling process easier, as all specifications and the struc-ture of the actuator are well known. In the case of a commercial actuator, however, only the information from the manufacturer is available and must be checked or completed during the modelling process. The aim of this paper is to explore how a commercial stacked silicone-based DEA can be modelled and how complex the model should be to properly replicate the features of the actu-ator. The static description has demonstrated the suitability of Hooke's law. In the case of dynamic description, it is shown that no viscoelastic model is needed for control-oriented modelling. However, if all features of the DEA are considered, the general-ized Kelvin-Maxwell model with three Maxwell elements shows good results, stability and computational efficiency. |
| title | Modelling and simulation of a commercially available dielectric elastomer actuator |
| topic | Robotics |
| url | https://arxiv.org/abs/2308.01675 |