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Yapay Kas Uygulamalarinda Kullanilan Dielektrik Elastomer Aktuatörlerin İncelenmesi Ve Simülasyonu

Yıl 2021, Cilt: 8 Sayı: 3, 1254 - 1263, 30.09.2021
https://doi.org/10.31202/ecjse.912710

Öz

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.

Destekleyen Kurum

YOZGAT BOZOK UNIVERSITY SCIENTIFIC RESEARCH PROJECTS

Proje Numarası

6602a-FBE/19-244

Teşekkür

Yozgat Bozok Üniversitesi, Bilimsel Araştırmalar Proje Birimine Katkılarından Dolayı Teşekkür Ederiz

Kaynakça

  • [1].Liu, L., Liu, Y., Yu, K., Leng, J., Thermoelectromechanical stability of dielectric elastomers undergoing temperature variation, Mechanics of Materials, 2014, 72:33-45.
  • [2].Pelrine, R., Kornbluh, R., Joseph, J., Heydt, R., Pei, Q., Chiba, S., High-field deformation of elastomeric dielectrics for actuators, Materials Science and Engineering: C, 2000, 11(2):89-100.
  • [3].Plante, J. S., Dubowsky, S., On the performance mechanisms of dielectric elastomer actuators, Sensors and Actuators A: Physical, 2007, 137(1):96-109.
  • [4].Carpi, F., Bauer, S., De Rossi, D., Stretching dielectric elastomer performance, Science, 2010, 330(6012):1759-1761.
  • [5].Koh, S. J. A., Keplinger, C., Li, T., Bauer, S., Suo, Z., Dielectric elastomer generators: How much energy can be converted?, IEEE/ASME Transactions on mechatronics, 2010, 16(1):33-41.
  • [6].Keplinger, C., Li, T., Baumgartner, R., Suo, Z., Bauer, S., Harnessing snap-through instability in soft dielectrics to achieve giant voltage-triggered deformation, Soft Matter, 2012, 8(2): 285-288.
  • [7].Huang, J., Li, T., Chiang Foo, C., Zhu, J., Clarke, D. R., Suo, Z., Giant, voltage-actuated deformation of a dielectric elastomer under dead load, Applied Physics Letters, 2012, 100(4): 041911.
  • [8].An, L., Wang, F., Cheng, S., Lu, T., Wang, T. J., Experimental investigation of the electromechanical phase transition in a dielectric elastomer tube, Smart Materials and Structures, 2015, 24(3): 035006.
  • [9].Landgraf, M., Ollech, J., Klemm, T., Schaude, J., Reitelshöfer, S., Franke, J., Lightweight Control Method for Dielectric Elastomer Actuators as Self-Sensing Artificial Muscles, In 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2018, pp. 65-70.
  • [10].Bar-Cohen, Y., Electroactive polymer (EAP) actuators as artificial muscles: reality, potential, and challenges, 2004, (Vol. 136). SPIE press.
  • [11]. Brochu, P., Pei, Q., Dielectric elastomers for actuators and artificial muscles, Electroactivity in polymeric materials, 2012, 1-56.
  • [12].Carpi, Federico, SMELA, Elisabeth (ed.), Biomedical applications of electroactive polymer actuators, John Wiley & Sons, 2009.
  • [13]. Pelrine, R. E., Kornbluh, R. D., Joseph, J. P., Electrostriction of polymer dielectrics with compliant electrodes as a means of actuation, Sensors and Actuators A: Physical, 1998, 64(1): 77-85.
  • [14].Pelrine, R., Kornbluh, R. D., Eckerle, J., Jeuck, P., Oh, S., Pei, Q., Stanford, S., Dielectric elastomers: generator mode fundamentals and applications. In Smart Structures and Materials 2001: Electroactive Polymer Actuators and Devices, 2001, 4329:148-156.
  • [15].Jean-Mistral, C., Basrour, S., Chaillout, J. J., Bonvilain, A., A complete study of electroactive polymers for energy scavenging: modelling and experiments, arXiv preprint arXiv, 2008, 0802.3046.
  • [16].White, Edward L., Yuen, Michelle C., Kramer, Rebecca K. Distributed sensing in capacitive conductive composites, In: IEEE SENSORS, IEEE, 2017, p. 1-3.
  • [17]. Liu, Y., Liu, L., Zhang, Z., Leng, J., Dielectric elastomer film actuators: characterization, experiment and analysis, Smart Materials and Structures, 2009, 18(9):095024.
  • [18].Plante, J. S., Dubowsky, S., On the properties of dielectric elastomer actuators and their design implications, Smart materials and Structures, 2007, 16.2: S227.
  • [19].Carpi, F., Chiarelli, P., Mazzoldi, A., De Rossi, D., Electromechanical characterisation of dielectric elastomer planar actuators: comparative evaluation of different electrode materials and different counterloads, Sensors and Actuators A: Physical, 2003, 107(1):85-95.
  • [20].Michel, S., Zhang, X. Q., Wissler, M., Löwe, C., Kovacs, G., A comparison between silicone and acrylic elastomers as dielectric materials in electroactive polymer actuators, Polymer international, 2010, 59(3):391-399.
  • [21]. Kornbluh, R. D., Pelrine, R., Pei, Q., Heydt, R., Stanford, S., Oh, S., Eckerle, J., Electroelastomers: applications of dielectric elastomer transducers for actuation, generation, and smart structures. In Smart Structures and Materials 2002: Industrial and Commercial Applications of Smart Structures Technologies, 2002, Vol. 4698:254-270.
  • [22].Ghazali, F. A. M., Mah, C. K., AbuZaiter, A., Chee, P. S., Ali, M. S. M., Soft dielectric elastomer actuator micropump, Sensors and Actuators A: Physical, 2017, 263:276-284.
  • [23].Khanh, V. T. V., Mathew, A. T., Short, J. S., Quek, Z. F., Ang, M. H., & Koh, S. J. A., Displacement improvement from variable pre-stretch diaphragm type Dielectric Elastomer Actuator, In 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018, pp. 545-550.
  • [24]. Carpi, F., Bauer, S., De Rossi, D., Stretching dielectric elastomer performance, Science, 2010, 330(6012):1759-1761.
  • [25].Kasahara, T., Mizushima, M., Shinohara, H., Obata, T., Futakuchi, T., Shoji, S., Mizuno, J., Simple and low-cost fabrication of flexible capacitive tactile sensors, Japanese Journal of Applied Physics, 2011, 50(1R): 016502. [26]. Kim, D., Lee, C. H., Kim, B. C., Lee, D. H., Lee, H. S., Nguyen, C. T., Choi, H. R., Six- axis capacitive force/torque sensor based on dielectric elastomer, In Electroactive Polymer Actuators and Devices (EAPAD), 2013, 8687: 86872J.
  • [27].Simone, F., Linnebach, P., Rizzello, G., Seelecke, S., FE simulation of a dielectric elastomer actuator (DEA) driven Contactor in COMSOL, In VDI Fachtagung Mechatronik, 2017, pp. 244-249.
  • [28].Wissler, M., Mazza, E., Modeling and simulation of dielectric elastomer actuators, Smart Materials and structures, 2005, 14(6): 1396.
  • [29].Luo, K., Tian, Q., Hu, H., Dynamic modeling, simulation and design of smart membrane systems driven by soft actuators of multilayer dielectric elastomers, Nonlinear Dynamics, 2020, 102(3):1463-1483.
  • [30].Prechtl, J., Kunze, J., Seelecke, S., Rizzello, G., Soft Robotic Module Actuated by Silicone- Based Rolled Dielectric Elastomer Actuators-Modeling and Simulation, In ACTUATOR; International Conference and Exhibition on New Actuator Systems and Applications, 2021, pp. 1-4.

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

Yıl 2021, Cilt: 8 Sayı: 3, 1254 - 1263, 30.09.2021
https://doi.org/10.31202/ecjse.912710

Öz

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.

Proje Numarası

6602a-FBE/19-244

Kaynakça

  • [1].Liu, L., Liu, Y., Yu, K., Leng, J., Thermoelectromechanical stability of dielectric elastomers undergoing temperature variation, Mechanics of Materials, 2014, 72:33-45.
  • [2].Pelrine, R., Kornbluh, R., Joseph, J., Heydt, R., Pei, Q., Chiba, S., High-field deformation of elastomeric dielectrics for actuators, Materials Science and Engineering: C, 2000, 11(2):89-100.
  • [3].Plante, J. S., Dubowsky, S., On the performance mechanisms of dielectric elastomer actuators, Sensors and Actuators A: Physical, 2007, 137(1):96-109.
  • [4].Carpi, F., Bauer, S., De Rossi, D., Stretching dielectric elastomer performance, Science, 2010, 330(6012):1759-1761.
  • [5].Koh, S. J. A., Keplinger, C., Li, T., Bauer, S., Suo, Z., Dielectric elastomer generators: How much energy can be converted?, IEEE/ASME Transactions on mechatronics, 2010, 16(1):33-41.
  • [6].Keplinger, C., Li, T., Baumgartner, R., Suo, Z., Bauer, S., Harnessing snap-through instability in soft dielectrics to achieve giant voltage-triggered deformation, Soft Matter, 2012, 8(2): 285-288.
  • [7].Huang, J., Li, T., Chiang Foo, C., Zhu, J., Clarke, D. R., Suo, Z., Giant, voltage-actuated deformation of a dielectric elastomer under dead load, Applied Physics Letters, 2012, 100(4): 041911.
  • [8].An, L., Wang, F., Cheng, S., Lu, T., Wang, T. J., Experimental investigation of the electromechanical phase transition in a dielectric elastomer tube, Smart Materials and Structures, 2015, 24(3): 035006.
  • [9].Landgraf, M., Ollech, J., Klemm, T., Schaude, J., Reitelshöfer, S., Franke, J., Lightweight Control Method for Dielectric Elastomer Actuators as Self-Sensing Artificial Muscles, In 2018 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2018, pp. 65-70.
  • [10].Bar-Cohen, Y., Electroactive polymer (EAP) actuators as artificial muscles: reality, potential, and challenges, 2004, (Vol. 136). SPIE press.
  • [11]. Brochu, P., Pei, Q., Dielectric elastomers for actuators and artificial muscles, Electroactivity in polymeric materials, 2012, 1-56.
  • [12].Carpi, Federico, SMELA, Elisabeth (ed.), Biomedical applications of electroactive polymer actuators, John Wiley & Sons, 2009.
  • [13]. Pelrine, R. E., Kornbluh, R. D., Joseph, J. P., Electrostriction of polymer dielectrics with compliant electrodes as a means of actuation, Sensors and Actuators A: Physical, 1998, 64(1): 77-85.
  • [14].Pelrine, R., Kornbluh, R. D., Eckerle, J., Jeuck, P., Oh, S., Pei, Q., Stanford, S., Dielectric elastomers: generator mode fundamentals and applications. In Smart Structures and Materials 2001: Electroactive Polymer Actuators and Devices, 2001, 4329:148-156.
  • [15].Jean-Mistral, C., Basrour, S., Chaillout, J. J., Bonvilain, A., A complete study of electroactive polymers for energy scavenging: modelling and experiments, arXiv preprint arXiv, 2008, 0802.3046.
  • [16].White, Edward L., Yuen, Michelle C., Kramer, Rebecca K. Distributed sensing in capacitive conductive composites, In: IEEE SENSORS, IEEE, 2017, p. 1-3.
  • [17]. Liu, Y., Liu, L., Zhang, Z., Leng, J., Dielectric elastomer film actuators: characterization, experiment and analysis, Smart Materials and Structures, 2009, 18(9):095024.
  • [18].Plante, J. S., Dubowsky, S., On the properties of dielectric elastomer actuators and their design implications, Smart materials and Structures, 2007, 16.2: S227.
  • [19].Carpi, F., Chiarelli, P., Mazzoldi, A., De Rossi, D., Electromechanical characterisation of dielectric elastomer planar actuators: comparative evaluation of different electrode materials and different counterloads, Sensors and Actuators A: Physical, 2003, 107(1):85-95.
  • [20].Michel, S., Zhang, X. Q., Wissler, M., Löwe, C., Kovacs, G., A comparison between silicone and acrylic elastomers as dielectric materials in electroactive polymer actuators, Polymer international, 2010, 59(3):391-399.
  • [21]. Kornbluh, R. D., Pelrine, R., Pei, Q., Heydt, R., Stanford, S., Oh, S., Eckerle, J., Electroelastomers: applications of dielectric elastomer transducers for actuation, generation, and smart structures. In Smart Structures and Materials 2002: Industrial and Commercial Applications of Smart Structures Technologies, 2002, Vol. 4698:254-270.
  • [22].Ghazali, F. A. M., Mah, C. K., AbuZaiter, A., Chee, P. S., Ali, M. S. M., Soft dielectric elastomer actuator micropump, Sensors and Actuators A: Physical, 2017, 263:276-284.
  • [23].Khanh, V. T. V., Mathew, A. T., Short, J. S., Quek, Z. F., Ang, M. H., & Koh, S. J. A., Displacement improvement from variable pre-stretch diaphragm type Dielectric Elastomer Actuator, In 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018, pp. 545-550.
  • [24]. Carpi, F., Bauer, S., De Rossi, D., Stretching dielectric elastomer performance, Science, 2010, 330(6012):1759-1761.
  • [25].Kasahara, T., Mizushima, M., Shinohara, H., Obata, T., Futakuchi, T., Shoji, S., Mizuno, J., Simple and low-cost fabrication of flexible capacitive tactile sensors, Japanese Journal of Applied Physics, 2011, 50(1R): 016502. [26]. Kim, D., Lee, C. H., Kim, B. C., Lee, D. H., Lee, H. S., Nguyen, C. T., Choi, H. R., Six- axis capacitive force/torque sensor based on dielectric elastomer, In Electroactive Polymer Actuators and Devices (EAPAD), 2013, 8687: 86872J.
  • [27].Simone, F., Linnebach, P., Rizzello, G., Seelecke, S., FE simulation of a dielectric elastomer actuator (DEA) driven Contactor in COMSOL, In VDI Fachtagung Mechatronik, 2017, pp. 244-249.
  • [28].Wissler, M., Mazza, E., Modeling and simulation of dielectric elastomer actuators, Smart Materials and structures, 2005, 14(6): 1396.
  • [29].Luo, K., Tian, Q., Hu, H., Dynamic modeling, simulation and design of smart membrane systems driven by soft actuators of multilayer dielectric elastomers, Nonlinear Dynamics, 2020, 102(3):1463-1483.
  • [30].Prechtl, J., Kunze, J., Seelecke, S., Rizzello, G., Soft Robotic Module Actuated by Silicone- Based Rolled Dielectric Elastomer Actuators-Modeling and Simulation, In ACTUATOR; International Conference and Exhibition on New Actuator Systems and Applications, 2021, pp. 1-4.
Toplam 29 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Mühendislik
Bölüm Makaleler
Yazarlar

Mustafa Yaz 0000-0001-7042-7649

İbrahim Karaman 0000-0001-8396-9797

Davut Erdem Şahin 0000-0001-6770-7252

Proje Numarası 6602a-FBE/19-244
Yayımlanma Tarihi 30 Eylül 2021
Gönderilme Tarihi 10 Nisan 2021
Kabul Tarihi 16 Temmuz 2021
Yayımlandığı Sayı Yıl 2021 Cilt: 8 Sayı: 3

Kaynak Göster

IEEE M. Yaz, İ. Karaman, ve D. E. Şahin, “Investigation And Simulation Of Dielectric Elastomer Actuators Used In Artificial Muscle Applications”, ECJSE, c. 8, sy. 3, ss. 1254–1263, 2021, doi: 10.31202/ecjse.912710.