Dynamic Analysis and Active Control of a Dielectric Elastomer Balloon Covered by a Protective Passive Layer

Authors

  • Zichen Deng Northwestern Polytechnical University
  • Siqi An Northwestern Polytechnical University
  • Qingjun Li Northwestern Polytechnical University

DOI:

https://doi.org/10.30564/jmer.v2i1.914

Abstract

Dielectric elastomer (DE) balloons are intensively developed as sensors, actuators, and generators.  To ensure electrical safety, a DE balloon can be covered by an external passive layer. In this paper, the dynamic behaviours and active control for the DE balloon coupled with the passive layer are investigated. Based on the Hamilton’s principle, the dynamic model of the DE balloon covered by the passive layer is derived. With this coupled model, we demonstrate that three typical dynamic responses can appear and the transition among these dynamic behaviours can be achieved by altering the properties of the passive layer. The introduction of the passive layer is able to induce undesirable dynamic behaviours, which require to be controlled. Thus, we present two methods of control including proportional-derivative (PD) control and iterative learning control (ILC). We demonstrate that the undesirable dynamic responses can be effectively eliminated by the proposed methods of control. Particularly, control errors can be reduced by 2 or 3 orders of magnitude using the latter control method. We hope that the present analysis can improve the understanding of dynamic behaviours of a DE balloon covered by a passive layer and promote the control of undesirable dynamic responses.

Keywords:

Dielectric elastomer balloon, Passive layer, Dynamic behaviour, Active control

References

[1] Anderson I A, Gisby T A, Mckay T G, et al. Multi-functional dielectric elastomer artificial muscles for soft and smart machines, Journal of Applied Physics, 2012, 112: 041101.

[2] Carpi F, Kornbluh R, Sommer-Larsen P, et al. Electroactive polymer actuators as artificial muscles: are they ready for bioinspired applications? Bioinspiration & Biomimetics, 2011, 6:045006.

[3] Lee H S, Phung H, Lee D H, et al. Design analysis and fabrication of arrayed tactile display based on dielectric elastomer actuator. Sensors and Actuators A: Physical, 2014, 205:191-198.

[4] Shikida M, Imamura T, Ukai S, et al. Fabrication of a bubble-driven arrayed actuator for a tactile display. Journal of Micromechanics and Microengineering, 2008, 18(6):065012.

[5] Henann D L, Chester S A, Bertoldi K. Modeling of dielectric elastomers: Design of actuators and energy harvesting devices[J]. Journal of the Mechanics and Physics of Solids, 2013, 61(10):2047-2066.

[6] Chiba S, Waki M, Wada T, et al. Consistent ocean wave energy harvesting using electroactive polymer (dielectric elastomer) artificial muscle generators. Applied Energy, 2013, 104:497-502.

[7] Li Z, Wang Y, Foo C C, et al. The mechanism for large-volume fluid pumping via reversible snap-through of dielectric elastomer. Journal of Applied Physics, 2017, 122(8):084503.

[8] Tavakol B, Bozlar M, Punckt C, et al. Buckling of dielectric elastomeric plates for soft, electrically active microfluidic pumps. Soft Matter, 2014, 10(27):4789-4794.

[9] Shian S, Bertoldi K, Clarke D R. Dielectric Elastomer Based “Grippers” for Soft Robotics. Advanced Materials, 2015, 27(43):6814-6819.

[10] Xu L, Chen H Q , Zou J, et al. Bio-inspired annelid robot: a dielectric elastomer actuated soft robot. Bioinspiration & Biomimetics, 2017, 12(2):025003.

[11] Suo Z. THEORY OF DIELECTRIC ELASTOMERS. Acta Mechanica Solida Sinica, 2010, 23(6):549-578.

[12] Pourazadi S, Shagerdmootaab A, Chan H, et al. On the Electrical Safety of Dielectric Elastomer Actuators in Proximity to the Human Body. Smart Materials and Structures, 2017, 26:115007.

[13] Luigi C, Gabriele F, Massimiliano G , et al. Active compression bandage made of electroactive elastomers. IEEE/ASME Transactions on Mechatronics, 2018, 23:2328-2337.

[14] Bortot, Eliana. Analysis of multilayer electro-active spherical balloons. Journal of the Mechanics and Physics of Solids, 2017, 101:250-267.

[15] An S Q, Zou H L and Deng Z C. Control instability and enhance performance of a dielectric elastomer

[16] balloon with a passive layer. Journal of Physics D: Applied Physics, 2019, 52:195301.

[17] Wang T, Zhang J, Hong , et al. Dielectric Elastomer Actuators for Soft Wave-Handling Systems. Soft Robotics, 2017, 4(1):61-69.

[18] Wilson E D, Assaf T, Pearson M J, et al. Cerebellar-inspired algorithm for adaptive control of nonlinear dielectric elastomer-based artificial muscle. Journal of The Royal Society Interface, 2016, 13(122):20160547.

[19] Y. Li, I. Oh, J. Chen, et al. Nonlinear dynamic analysis and active control of visco-hyperelastic dielectric elastomer membrane, International Journal of Solids and Structures, 2018, 152-153:28-38.

[20] Zhao X, Hong W, Suo Z . Electromechanical hysteresis and coexistent states in dielectric elastomers. Physical Review B, 2007, 76(13):134113.

[21] Zhang J, Chen H, Li D. Method to Control Dynamic Snap-Through Instability of Dielectric Elastomers. Physical Review Applied, 2016, 6(6):064012.

[22] Sheng J, Chen H, Liu L, et al. Dynamic electromechanical performance of viscoelastic dielectric elastomers. Journal of Applied Physics, 2013, 114(13):134101.

[23] Chen F, Zhu J, Wang M Y. Dynamic electromechanical instability of a dielectric elastomer balloon. Epl, 2015, 112(4):47003.

[24] Li B, Zhang J, Chen H, et al. Voltage-induced pinnacle response in the dynamics of dielectric elastomers. Physical Review E, 2016, 93(5):052506.

[25] Rustemli S , Yilmaz M , Demirtas M . Ripple reduction at speed and torque of step motors used on a two-axis robot arm[J]. Robotics and Computer-Integrated Manufacturing, 2010, 26(6):759-767.

[26] Pounds P E I , Dollar A M . Stability of Helicopters in Compliant Contact Under PD-PID Control[J]. IEEE Transactions on Robotics, 2014, 30(6):1472-1486.

[27] Parra-Vega V , Arimoto S , Liu Y H , et al. Dynamic sliding PID control for tracking of robot manipulators: theory and experiments[J]. IEEE Transactions on Robotics and Automation, 2003, 19(6):967-976.

[28] Q. Li, Z. Deng, K. Zhang, et al. Precise Attitude Control of Multirotary-Joint Solar-Power Satellite, Journal of Guidance, Control, and Dynamics, 2018, 41:1435-1442.

Downloads

Issue

Article Type

Articles