Power optimization of a conical dielectric elastomer actuator for resonant robotic systems

Chongjing Cao; Xing Gao; Stuart C Burgess; Andrew T Conn

doi:10.1016/j.eml.2019.100619

Power optimization of a conical dielectric elastomer actuator for resonant robotic systems

Chongjing Cao, Xing Gao, Stuart C Burgess, Andrew T Conn

Research output: Contribution to journal › Article (Academic Journal) › peer-review

46 Citations (Scopus)

245 Downloads (Pure)

Abstract

Insects utilize resonant actuation to amplify the flapping stroke and improve the energy efficiency. The inherent elasticity in dielectric elastomer actuators (DEAs) offers the advantage over conventional actuators of achieving resonant actuation with no additional elastic elements required. Despite that the resonant actuation of the DEAs have attracted great research interests, no optimization has been done on the output performance of resonating DEAs. In this work, a double cone DEA (DCDEA) configuration is adopted and a numerical model is developed to characterize its dynamic response. An effective power study framework is developed and the power output of the DCDEA is optimized against its pre-stretch ratios and spacer length. To demonstrate the potential exploitation of resonant DEA performance, a bioinspired flapping wing mechanism driven by the optimized DCDEA design is developed with a peak flapping stroke of 31˚ at its resonance of 30 Hz.

Original language	English
Article number	100619
Number of pages	8
Journal	Extreme Mechanics Letters
Volume	35
Early online date	16 Dec 2019
DOIs	https://doi.org/10.1016/j.eml.2019.100619
Publication status	Published - 1 Feb 2020

Keywords

dielectric elastomer actuator
power optimization
dynamic modelling
resonant actuation
flapping wing robots

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1016/j.eml.2019.100619

Full-text PDF (accepted author manuscript)
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Elsevier at https://www.sciencedirect.com/science/article/pii/S2352431619302871. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 2.33 MBLicence: CC BY-NC-ND

Handle.net

Persistent link

Integrated compliant actuation for untethered soft robotic systems
Conn, A. T. (Principal Investigator)
1/10/17 → 21/12/18
Project: Research

Cite this

@article{ee25c0cb1f11494581208b626053a3bc,

title = "Power optimization of a conical dielectric elastomer actuator for resonant robotic systems",

abstract = "Insects utilize resonant actuation to amplify the flapping stroke and improve the energy efficiency. The inherent elasticity in dielectric elastomer actuators (DEAs) offers the advantage over conventional actuators of achieving resonant actuation with no additional elastic elements required. Despite that the resonant actuation of the DEAs have attracted great research interests, no optimization has been done on the output performance of resonating DEAs. In this work, a double cone DEA (DCDEA) configuration is adopted and a numerical model is developed to characterize its dynamic response. An effective power study framework is developed and the power output of the DCDEA is optimized against its pre-stretch ratios and spacer length. To demonstrate the potential exploitation of resonant DEA performance, a bioinspired flapping wing mechanism driven by the optimized DCDEA design is developed with a peak flapping stroke of 31˚ at its resonance of 30 Hz.",

keywords = "dielectric elastomer actuator, power optimization, dynamic modelling, resonant actuation, flapping wing robots",

author = "Chongjing Cao and Xing Gao and Burgess, {Stuart C} and Conn, {Andrew T}",

year = "2020",

month = feb,

day = "1",

doi = "10.1016/j.eml.2019.100619",

language = "English",

volume = "35",

journal = "Extreme Mechanics Letters",

issn = "2352-4316",

publisher = "Elsevier Limited",

}

TY - JOUR

T1 - Power optimization of a conical dielectric elastomer actuator for resonant robotic systems

AU - Cao, Chongjing

AU - Gao, Xing

AU - Burgess, Stuart C

AU - Conn, Andrew T

PY - 2020/2/1

Y1 - 2020/2/1

N2 - Insects utilize resonant actuation to amplify the flapping stroke and improve the energy efficiency. The inherent elasticity in dielectric elastomer actuators (DEAs) offers the advantage over conventional actuators of achieving resonant actuation with no additional elastic elements required. Despite that the resonant actuation of the DEAs have attracted great research interests, no optimization has been done on the output performance of resonating DEAs. In this work, a double cone DEA (DCDEA) configuration is adopted and a numerical model is developed to characterize its dynamic response. An effective power study framework is developed and the power output of the DCDEA is optimized against its pre-stretch ratios and spacer length. To demonstrate the potential exploitation of resonant DEA performance, a bioinspired flapping wing mechanism driven by the optimized DCDEA design is developed with a peak flapping stroke of 31˚ at its resonance of 30 Hz.

AB - Insects utilize resonant actuation to amplify the flapping stroke and improve the energy efficiency. The inherent elasticity in dielectric elastomer actuators (DEAs) offers the advantage over conventional actuators of achieving resonant actuation with no additional elastic elements required. Despite that the resonant actuation of the DEAs have attracted great research interests, no optimization has been done on the output performance of resonating DEAs. In this work, a double cone DEA (DCDEA) configuration is adopted and a numerical model is developed to characterize its dynamic response. An effective power study framework is developed and the power output of the DCDEA is optimized against its pre-stretch ratios and spacer length. To demonstrate the potential exploitation of resonant DEA performance, a bioinspired flapping wing mechanism driven by the optimized DCDEA design is developed with a peak flapping stroke of 31˚ at its resonance of 30 Hz.

KW - dielectric elastomer actuator

KW - power optimization

KW - dynamic modelling

KW - resonant actuation

KW - flapping wing robots

U2 - 10.1016/j.eml.2019.100619

DO - 10.1016/j.eml.2019.100619

M3 - Article (Academic Journal)

SN - 2352-4316

VL - 35

JO - Extreme Mechanics Letters

JF - Extreme Mechanics Letters

M1 - 100619

ER -

Power optimization of a conical dielectric elastomer actuator for resonant robotic systems

Abstract

Keywords

UN SDGs

Access to Document

Handle.net

Fingerprint

Projects

Integrated compliant actuation for untethered soft robotic systems

Cite this