Abstract
The composite structure with the dielectric elastomer (DE) and soft materials is the main form in the actuators in soft robots. The accurate dynamic model for this composite structure is important for the design and the manipulating control of soft robots. In this paper, the high-order shell elements are developed to descript the mechanical performance of composite two-layer plate based on the absolute nodal coordinate formulation (ANCF). The constitutive model for DE material and Mooney-Rivlin constitutive model for soft material are introduced. The consistent condition of deformation for composite structure is proposed when the two-layer composite shells are united together. The effects of various parameters such as voltages and material parameters on the dynamic performance of composite structure are studied. The results show that the oscillation amplitude and frequency of the free end of the composite structure increase nonlinearly with the increase of the excitation voltage. The increase of structural stiffness for the DE plate may improve the periodicity and stability of the deformation. The results may provide guidance for the dynamic modelling and actuation design for soft robots.
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The authors appreciate the financial support by the National Natural Science Foundation of China (51775345).
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Yu, H., Li, Y., Chen, A., Wang, H. (2020). Dynamic Performance of Flexible Composite Structures with Dielectric Elastomer Actuators via Absolute Nodal Coordinate Formulation. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_27
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DOI: https://doi.org/10.1007/978-3-030-23132-3_27
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