Dynamic Modelling and Control of a Dielectric Elastomer Actuator with Two Degrees of Freedom
Publish place: International Journal of Advanced Design and Manufacturing Technology، Vol: 11، Issue: 3
Publish Year: 1397
نوع سند: مقاله ژورنالی
زبان: English
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شناسه ملی سند علمی:
JR_ADMTL-11-3_010
تاریخ نمایه سازی: 13 اردیبهشت 1400
Abstract:
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.
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Authors
Yaser Hesari
Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
Shahram Etemadi Haghighi
Department of Mechanical Engineering, Science and Research Branch, Islamic Azad University, Tehran, Iran
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