RT journal article
T1 Modelling and simulation of a commercially available dielectric elastomer actuator
A1 Sohlbach, Lukas
A1 Hobbani, H.
A1 Blase, Christopher
A1 Pérez Peña, Fernando
A1 Schmidt, Karsten
A2 Ingeniería en AutomáticaElectrónica, Arquitectura y Redes de Computadores
K1 Modeling
K1 Control
K1 Learning for Soft Robots
K1 Soft Robot Materials and Design
K1 Soft Sensors
K1 Actuators Dielectric elastomer actuators
AB To fully harness the potential of dielectric elastomer actuators (DEAs) in soft robots, advanced control methods are needed. An important groundwork for this is the development of a control-oriented model that can adequately describe the underlying dynamics of a DEA. Existing models commonly focus on custom-made DEAs, simplifying the modelling process due to well-known specifications and actuator structures. However, for commercial actuators, only information from the manufacturer is available, necessitating verification or completion during the modelling process. The aim of this paper is to explore how a commercial stacked silicone-based DEA can be modelled and how complex the model should be to properly replicate the features of the actuator. The static description has demonstrated the suitability of Hooke’s law. In the case of dynamic description, it is shown that no viscoelastic model is needed for control-oriented modelling. However, if all features of the DEA are considered, the generalised Kelvin-Maxwell model with three Maxwell elements shows good results, stability and computational efficiency.
PB IOP Publishing Ltd
SN 1361-665X
YR 2024
FD 2024
LK http://hdl.handle.net/10498/32624
UL http://hdl.handle.net/10498/32624
LA eng
DS Repositorio Institucional de la Universidad de Cádiz
RD 10-may-2026