Review of the Manufacturing and Modeling Processes of a Soft Dielectric Electroactive Polymer Actuator
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee
[2.2] Automation, electronics, electrical engineering and space technology
2022
chapter in monograph / paper
english
- Dielectric electroactive polymer actuator
- DEAP
EN Soft robotics is an emerging discipline that combines classical robotics principles with soft materials and can provide a new class of actuators. Such equipment can support human-robot interaction facilitated by flexible and lightweight structures. Dielectric Electroactive Polymers (DEAP) are classified in the subclass of soft smart materials and are increasingly used in many automation and robotics systems. They are able to respond mechanically to an electrical stimulus or to store electrical energy from a mechanical deformation in the same way as a deformable capacitor. This makes these materials very interesting to be used as both actuators and deformation-detecting sensors. This article begins by defining how an DEAP actuator is manufactured and then goes into detail about the model definition. This study uses and discusses the technique of accurate modeling of this material, which takes into account its nonlinearity and its large deformation. The paper also presents the validation experimental results of the actuator response to the voltage excitation signal.
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