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contributor authorZhou, Fanghao
contributor authorHe, Jin
contributor authorZhang, Mingqi
contributor authorXiao, Youhua
contributor authorChen, Zheng
contributor authorWong, Tuck-Whye
contributor authorLi, Tiefeng
contributor authorXu, Zhongbin
contributor authorLuo, Yingwu
date accessioned2022-02-06T05:36:00Z
date available2022-02-06T05:36:00Z
date copyright7/20/2021 12:00:00 AM
date issued2021
identifier issn0021-8936
identifier otherjam_88_11_111006.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4278368
description abstractDielectric elastomer (DE) possesses attributes such as large deformation and fast response. As a typical DE actuating structure, the multilayered DE bending actuator (MDEBA) is lightweight and can actuate in relatively low voltage without a rigid frame and pre-stretch. These attributes arouse wide research interest in the MDEBA on the application of soft robots. However, due to its large deformation and nonlinear electromechanical dynamics, the control of MDEBA remains highly challenged. Considering the large bending deformation and gravity effect, we develop an electromechanical dynamic model-based control strategy, which can adaptively compensate for the parameter uncertainties during the actuation of MDEBA. Experimental results validate that this control strategy provides highly enhanced control performance compared to the proportional integral derivative (PID) controller. The electromechanical modeling method and dynamic control strategy may guide the further study of MDEBA, soft robots, and flexible devices.
publisherThe American Society of Mechanical Engineers (ASME)
titleElectromechanical Model-Based Adaptive Control of Multilayered Dielectric Elastomer Bending Actuator
typeJournal Paper
journal volume88
journal issue11
journal titleJournal of Applied Mechanics
identifier doi10.1115/1.4051657
journal fristpage0111006-1
journal lastpage0111006-8
page8
treeJournal of Applied Mechanics:;2021:;volume( 088 ):;issue: 011
contenttypeFulltext


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