Dynamic simulation of dielectric elastomer actuated multibody systems
Schlögl T, Leyendecker S (2016)
Publication Language: English
Publication Type: Conference contribution, Conference Contribution
Publication year: 2016
Conference Proceedings Title: Proceedings of the ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
Event location: Stowe
Abstract
A three-dimensional electro-mechanically coupled finite ele- ment model for dielectric elastomers is used to actuate multibody systems. This setting allows exploring the complex behavior of humanoid robots that are driven by artificial muscles instead of electrical drives. The coupling between the finite element muscle model and the rigid bodies is formulated at configuration level, where Lagrange multipliers account for constraint forces, lead- ing to differential algebraic equations of index-3. A well-chosen set of redundant configuration variables for the multibody system avoids any rotational degrees of freedom and leads to linear cou- pling constraints. As a result, the coupling between the artificial muscles and the multibody system can be formulated in a very modular way that allows for easy future extension. The applied structure preserving time integration scheme provides excellent long time energy behavior. In addition, the index-3 system is solved directly with numerical accuracy, avoiding index reduc- tion approximations.
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APA:
Schlögl, T., & Leyendecker, S. (2016). Dynamic simulation of dielectric elastomer actuated multibody systems. In Proceedings of the ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Stowe, US.
MLA:
Schlögl, Tristan, and Sigrid Leyendecker. "Dynamic simulation of dielectric elastomer actuated multibody systems." Proceedings of the ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stowe 2016.
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