Modelling and simulation of dielectric elastomer actuated multibody systems

Conference contribution
(Abstract of a poster)


Publication Details

Author(s): Schlögl T, Leyendecker S
Publication year: 2015
Language: English


Abstract


An important field for dielectric elastomer (DE) actuators is the use as artificial muscles in humanoid robots. DE actuated systems allow for flexible kinematics and safe and natural motions. In contrast to pneumatic and hydraulic systems, artificial muscles facilitate the design of autarkic systems. Besides the automated manufacturing and lightweight power electronics, the simulation of DEs is investigated within the collaborative research project bionicum. A three dimensional finite element model covers the time dependent behaviour of dielectric actuators. A hyperelastic Neo-Hookean material model is fully coupled with electrostatics. Viscoelastic stresses account for damping effects. A structure preserving time integration scheme provides accurate simulation results for energetic investigations. The actuated multibody system is modelled using rigid bodies. A redundant set of state variables avoids rotational degrees of freedom and provides a robust and generic formulation. The finite element model is coupled with the multibody system by constraints formulated at position level. Lagrange multipliers take coupling forces into account. The structure preserving integration scheme allows for the numerically exact fulfilment of constraints without index reduction. The coupled model serves as a basis for future work regarding optimal control of DE actuated robots.



FAU Authors / FAU Editors

Leyendecker, Sigrid Prof. Dr.-Ing.
Chair of Applied Dynamics
Schlögl, Tristan
Chair of Applied Dynamics


How to cite

APA:
Schlögl, T., & Leyendecker, S. (2015, June). Modelling and simulation of dielectric elastomer actuated multibody systems. Poster presentation at EuroEAP, Tallinn, EE.

MLA:
Schlögl, Tristan, and Sigrid Leyendecker. "Modelling and simulation of dielectric elastomer actuated multibody systems." Presented at EuroEAP, Tallinn 2015.

BibTeX: 

Last updated on 2018-08-08 at 03:23