Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom
Dielectric elastomer actuators are capable of creating multi degrees of freedom in a single joint. In this paper, a double-cone dielectric elastomer actuator is assumed as a planar joint with two degrees of freedom. Because of theoretical complexities, mathematical formulation of dynamic equations i...
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| Format: | Article |
| Language: | English |
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Islamic Azad University-Isfahan (Khorasgan) Branch
2018-09-01
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| Series: | International Journal of Advanced Design and Manufacturing Technology |
| Subjects: | |
| Online Access: | https://admt.isfahan.iau.ir/article_668285_eb6aeaa60b0e6f7953551c947a45a27c.pdf |
| _version_ | 1827791097286361088 |
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| author | Yaser Hesari Shahram Etemadi Haghighi |
| author_facet | Yaser Hesari Shahram Etemadi Haghighi |
| author_sort | Yaser Hesari |
| collection | DOAJ |
| description | Dielectric elastomer actuators are capable of creating multi degrees of freedom in a single joint. In this paper, a double-cone dielectric elastomer actuator is assumed as a planar joint with two degrees of freedom. Because of theoretical complexities, mathematical formulation of dynamic equations is too complicated. To obtain the dynamic equations of motion, at first, experimental charts are used. At this stage forms of relations between displacements, voltages, forces and moments are proposed, and coefficients are optimized to keep the difference between experimental and estimated charts in minimum. Then dynamic equations of motion are derived based on Newton-Euler method, and state-space form of equations of the joint are obtained. As a second objective, joint stabilization around working point is considered. To stabilize the joint against external loads, or initial dislocations, a regulator controller is designed. The joint is over actuated. So using constraint equations, control rule is extracted and simulated. Simulations show successful performance around the working point. |
| first_indexed | 2024-03-11T17:42:29Z |
| format | Article |
| id | doaj.art-0b76bac28fc24c5899e8172c9784f021 |
| institution | Directory Open Access Journal |
| issn | 2252-0406 2383-4447 |
| language | English |
| last_indexed | 2024-03-11T17:42:29Z |
| publishDate | 2018-09-01 |
| publisher | Islamic Azad University-Isfahan (Khorasgan) Branch |
| record_format | Article |
| series | International Journal of Advanced Design and Manufacturing Technology |
| spelling | doaj.art-0b76bac28fc24c5899e8172c9784f0212023-10-18T09:06:37ZengIslamic Azad University-Isfahan (Khorasgan) BranchInternational Journal of Advanced Design and Manufacturing Technology2252-04062383-44472018-09-011139399668285Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of FreedomYaser Hesari0Shahram Etemadi Haghighi1Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, IranDepartment of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, IranDielectric elastomer actuators are capable of creating multi degrees of freedom in a single joint. In this paper, a double-cone dielectric elastomer actuator is assumed as a planar joint with two degrees of freedom. Because of theoretical complexities, mathematical formulation of dynamic equations is too complicated. To obtain the dynamic equations of motion, at first, experimental charts are used. At this stage forms of relations between displacements, voltages, forces and moments are proposed, and coefficients are optimized to keep the difference between experimental and estimated charts in minimum. Then dynamic equations of motion are derived based on Newton-Euler method, and state-space form of equations of the joint are obtained. As a second objective, joint stabilization around working point is considered. To stabilize the joint against external loads, or initial dislocations, a regulator controller is designed. The joint is over actuated. So using constraint equations, control rule is extracted and simulated. Simulations show successful performance around the working point.https://admt.isfahan.iau.ir/article_668285_eb6aeaa60b0e6f7953551c947a45a27c.pdfdielectric elastomer actuatorelectro active cone membrane actuatorlyapunov controller |
| spellingShingle | Yaser Hesari Shahram Etemadi Haghighi Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom International Journal of Advanced Design and Manufacturing Technology dielectric elastomer actuator electro active cone membrane actuator lyapunov controller |
| title | Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom |
| title_full | Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom |
| title_fullStr | Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom |
| title_full_unstemmed | Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom |
| title_short | Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom |
| title_sort | dynamic modelling and control of a dielectric elastomer actuator with two degrees of freedom |
| topic | dielectric elastomer actuator electro active cone membrane actuator lyapunov controller |
| url | https://admt.isfahan.iau.ir/article_668285_eb6aeaa60b0e6f7953551c947a45a27c.pdf |
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