Dynamic Simulation of Dielectric Elastomer Actuated Multibody Systems

Schlögl, Tristan; Leyendecker, Sigrid

doi:10.1115/smasis2016-9110

Cited by 5 publications

(4 citation statements)

References 18 publications

(32 reference statements)

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“…In [17], a viscoelastic 3D finite element model of the DEA is developed for the dynamic analysis within a structure preserving time integration scheme. This model is extended to flexible multibody system dynamics in [15].…”

Section: Introductionmentioning

confidence: 99%

Modelling of Electromechanical Coupling in Geometrically Exact Beam Dynamics

Huang¹,

Leyendecker²

2021

14th WCCM-ECCOMAS Congress

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Dielectric elastomers show promising performance as actuators for soft robotics. Thus, accurate and efficient numerical algorithms for the simulation of Dielectric Elastomer Actuators (DEAs) are required for the design and control of the soft robotic system. In this work, the Cosserat formulation of geometrically exact beam dynamics is extended by adding the electric potential as an additional degree of freedom to account for the electrical effects. A formulation of electric potential and electric field for the geometrically exact beam model is proposed such that complex beam deformations can be generated by the electrical forces. The kinematic variables in continuum electromechanics are formulated in terms of beam strains. The electromechanically coupled constitutive model for the beam formulation is obtained by integrating the strain energy in continuum electromechanics over the beam cross section, which leads to a direct transfer of the dielectric constitutive models in continuum mechanics to the beam model. The electromechanically coupled beam dynamics is solved with a variational time integrator scheme. By applying different electrical boundary conditions to the beam nodes, different deformation modes of the beam are obtained in the numerical example.

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Section: Introductionmentioning

confidence: 99%

Modelling of Electromechanical Coupling in Geometrically Exact Beam Dynamics

Huang¹,

Leyendecker²

2021

14th WCCM-ECCOMAS Congress

Self Cite

View full text Add to dashboard Cite

show abstract

“…A viscoelastic 3D finite element model of the DEA is developed by [24] for the dynamic analysis using a structure preserving time integration scheme. This model is extended to flexible multibody system dynamics in [23].…”

Section: Introductionmentioning

confidence: 99%

An electromechanically coupled beam model for dielectric elastomer actuators

Huang

Leyendecker

2021

Comput Mech

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In this work, the Cosserat formulation of geometrically exact beam dynamics is extended by adding the electric potential as an additional degree of freedom to account for the electromechanical coupling in the dielectric elastomer actuators. To be able to generate complex beam deformations via dielectric actuator, a linear distribution of electric potential on the beam cross section is proposed. Based on this electric potential, the electric field and the strain-like electrical variable are defined for the beam, where the strain-like electrical variable is work-conjugated to the electric displacement. The electromechanically coupled strain energy for the beam is derived consistently from continuum electromechanics, which leads to the direct application of the material models in the continuum to the beam model. The electromechanically coupled problem in beam dynamics is first spatially semidiscretized by 1D finite elements and then solved via variational time integration. By applying different electrical boundary conditions, different deformations of the beam are obtained in the numerical examples, including contraction, shear, bending and torsion. The damping effect induced by the viscosity as well as the total energy of the beam are evaluated. The deformations of the electromechanically coupled beam model are compared with the results of the 3D finite element model, where a good agreement of the deformations in the beam model and that in the 3D finite element model is observed. However, less degrees of freedom are required to resolve the complex deformations in the beam model.

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“…A viscoelastic 3D finite element model of the DEA is developed by [Schlögl and Leyendecker, 2016b] for the dynamic analysis using a structure preserving time integration scheme. This model is extended to flexible multibody system dynamics in [Schlögl and Leyendecker, 2016a].…”

Section: Introductionmentioning

confidence: 99%

An electromechanically coupled beam model for dielectric elastomer actuators

Huang,

Leyendecker

2021

Preprint

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In this work, the Cosserat formulation of geometrically exact beam dynamics is extended by adding the electric potential as an additional degree of freedom to account for the electromechanical coupling in the Dielectric Elastomer Actuators (DEAs). To be able to generate complex beam deformations via dielectric actuator, a linear distribution of electric potential on the beam cross section is proposed. Based on this electric potential, the electric field and the strain-like electrical variable are defined for the beam, where the strain-like electrical variable is work-conjugated to the electric displacement. The electromechanically coupled strain energy for the beam is derived consistently from continuum electromechanics, which leads to the direct application of the material models in the continuum to the beam model. The electromechanically coupled problem in beam dynamics is first spatially semidiscretized by 1D finite elements and then solved via variational time integration. By applying different electrical boundary conditions, different deformations of the beam are obtained in the numerical examples, including contraction, shear, bending and torsion. The damping effect induced by the viscosity as well as the total energy of the beam are evaluated. The deformations of the electromechanically coupled beam model are compared with the results of the 3D finite element model, where a good agreement of the deformations in the beam model and that in the 3D finite element model is observed. However, less degrees of freedom are required to resolve the complex deformations in the beam model.

show abstract

Dynamic Simulation of Dielectric Elastomer Actuated Multibody Systems

Cited by 5 publications

References 18 publications

Modelling of Electromechanical Coupling in Geometrically Exact Beam Dynamics

Modelling of Electromechanical Coupling in Geometrically Exact Beam Dynamics

An electromechanically coupled beam model for dielectric elastomer actuators

An electromechanically coupled beam model for dielectric elastomer actuators

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