Investigation And Simulation Of Dielectric Elastomer Actuators Used In Artificial Muscle Applications

Abstract

Dielectric Elastomer Actuator (DEA) consists of a thin dielectric elastomer membrane sandwiched between two electrode layers. When low current high voltage is applied to the two conductive layers, opposite loads occur on the surface which tends to pull one another. This voltage application causes thinning in width and expansion in surface area. DEAs are the favourite subject of research due to their low cost advantages, fast response, high energy density, wide deformation and softness. Due to the rigidity of the electric motors and the metal components of the robot, soft-acting robots using DEA are preferred to perform complex tasks instead of conventional robots. Robots with DEA have higher flexibility and better adaptability. Therefore, soft robots are popular topics in robotics research. DEAs are the best candidate materials for next-generation soft robot actuators and artificial muscles. In this study, simulation of robotic system has been realized by using DEAs calculation methods. Simulation results were compared with the data obtained from the application. This study will be the source of future studies on the subject. In the simulation, Matlab 2016 student and Labview Home and Students programs were used.

Keywords

• Artificial muscle
• electro-active actuator
• soft actuator
• dielectric elastomer
• electromechanical efficiency
• conductive elastomer

Yapay Kas Uygulamalarinda Kullanilan Dielektrik Elastomer Aktuatörlerin İncelenmesi Ve Simülasyonu

Abstract

Dielektrik Elastomer Aktüatör (DEA), iki elektrot tabaka arasına sıkıştırılmış ince bir dielektrik elastomer membrandan oluşur. İki iletken tabakaya düşük akımlı yüksek gerilim uygulandığında, birbirini çekme eğiliminde olan yüzeyde zıt yükler meydana gelir. Bu da eninde incelmeye ve yüzey alanında genişlemeye yol açar. DEA'lar, düşük maliyet avantajları, hızlı tepki, yüksek enerji yoğunluğu, geniş deformasyon ve yumuşaklık gibi özellikleri sebebiyle araştırma konusudur. Robot üretim teknolojisinde kullanılan elektrik motorları ve robotun metal bileşenlerinin sertliği sebebiyle, karmaşık görevleri yerine getirmek için DEA kullanan yumuşak mekanizmalı robotlar tercih edilir. DEA özellikli robotlar daha yüksek esnekliğe ve daha iyi uyarlanabilirliğe sahiptir. Bu nedenle, yumuşak robotlar robotik araştırmada popüler konulardandır. DEA’lar gelecek nesil yumuşak robot aktüatörleri ve yapay kaslar için en iyi aday malzemelerdendir. Bu çalışmada, DEA’ların hesaplama yöntemlerinden faydalanılarak simülasyonu gerçekleştirilmiştir. Simülasyon sonuçları uygulama neticesi elde edilen verilerle mukayese edilmiştir. Konuyla ilgili bundan sonraki yapılacak çalışmalara kaynak olabilecektir. Simülasyonda Matlab 2016 student ve Labview Home andStudents programlarından faydalanılmıştır.

Keywords

• Yapay kas
• elektro-aktif aktüatör
• yumuşak aktüatör
• dielektrik elastomer
• elektromekanik verimlilik
• iletken elastomer

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