Session: SYMP 3-2: Advanced Material Systems

Paper Number: 140344

140344 - Modelling of Dielectric Elastomer Multiactuator Networks as Cooperative Systems 

Collaborative multi-actuator systems will be important components for visionary future applications, such as robotics, medical appliances and advanced user interfaces. The potential range of use of such devices spans from the nanoscale, where they operate at a scale where many phenomena have their origin, to the micro- and macroscale. Conceptually, they vary considerably across the size scales.  The larger they become, the more the technical requirements approach human capabilities. They should be able to independently realise complex sequences of movements and tasks, perceive their environment, and act autonomously according to the situation.

In this contribution Dielectric elastomer transducers (DE transducers) form a multiactuator network which exhibits synergies of a cooperative system. DE transducers have been researched for several years and are constantly being developed. In the basic structure, they consist of an elastic dielectric sandwiched between two compliant, electrically conductive electrodes. When an electrical voltage is applied to the electrode layers, a mechanical contraction of the dielectric layers occurs due to electrostatic attraction. There are numerous examples of applications for DE transducers, including their use as grippers in soft robotics or their innovative use as membrane loudspeakers. The challenge arises from the prediction of the behavior of the cooperative system.

We present a mathematical model for such a dielectric elastomer network. The structure is based on multi-functional dielectric elastomers (DEs) that can be used as actuators, digital switches, capacitors and resistors. Combining these structures to networks enable the set-up of complex actuator systems that possess actuation signal processing capabilities. Based on our preliminary research on DE signal processors, oscillators and pacemakers for soft robots, we have developed a mathematical model that combines all necessary DE components to simulate complex DE multiactuator networks. Supplied with arrays of external DC voltage, integrated DE oscillators, built form DE actuator and neuron networks, autonomously generate oscillating signals that are used to clock the multi actuator network, control the cyclic motion of individual artificial muscles and to choose the actuation pattern.

Based on experimentally validated mathematical models for simple unit cells of a limited number of actuators and neurons, we derived models for more complex multiactuator networks. We present the application of conventional electronic design methods, such as pass transistor logics, to lay out larger electronic networks and simulate their behaviour with SIMULINK. Based on predefined actuation patterns, the derivation of the dielectric elastomer signal processors is described and the model that is used to layout the system is introduced. The derived models are validated with first experimental results for parts of the complex multiactuator systems.

Presenting Author: Uwe Marschner Technische Universität Dresden

Presenting Author Biography: Uwe Marschner studied Information Technology and graduated at TU Dresden (PhD 2002, Habilitation 2011). The academic year 1992–1993 he was with the Massachusetts Institute of Technology as a visiting engineer and in 2004 and 2006 with the University of Maryland as researcher within the Alexander von Humboldt Foundation GAFOE follow up program. At the Institute for Semiconductors and Microsystems Technology at the TUD he has established an intelligent sensor design and testing lab. His general interest are intelligent sensors used for indirect measurements and technical diagnosis, with the emphasis on parameter estimation, processing of vibration signals, circuit representation of multi-physical systems and simulation-based microsystems design. He is teaching courses on Microsystems Design and Simulation, Intelligent Medical Implants, Electromechanical Systems, Combined Simulation and Introduction to Electrical Engineering to Mechanical Engineers at TUD and in 2009 Electromechanical Systems Modeling at the University of Maryland. He is a member of IEEE, and ASME Branch Member of the Aerospace Division - Adaptive Structures and Material Systems.

Authors:

Chen Jiao
Ashwani Sharan Tripathi
Uwe Marschner
Andreas Richter
Ernst-Friedrich Markus Henke