Finite element modeling of dielectric elastomer actuators for space applications

A special actuator device with passive sensing capability based on dielectric elastomer was studied and specialized to be used in space applications. The work illustrates the research project modeling procedure adopted to simulate the mechanical behavior of this material based on a finite element theory approach. The Mooney-Rivlin’s hyperelastic and Maxwell’s electrostatic models provide the theoretical basis to describe its electro-mechanic behavior. The validation of the procedure is performed through a numerical-experimental correlation between the response of a prototype of actuator developed by the Risø Danish research center and the 3D finite element model simulations. An investigation concerning a possible application in the space environment of dielectric elastomer actuators (DEA) is also presented

Modeling and Optimal Control of Curvatures in IPMC's

There has been a growing number of research activities in the area of using smart materials in day to day lives because of their ability to serve both as sensors and actuators. Ionic Polymer Metal Composites (IPMCs) are one of such materials which have been extensively studied in the past few decades to not only understand its working principles but to also model and control their curvature. The problem of building an electromechanical model in order to explain the functioning of IPMCs under favorable and unfavorable conditions is still unsolved. This work proposes a control oriented electromechanical model for induced bending curvature in the IPMC material based on the empirical data received on Nafion based IPMC specimen. This model is further utilized to formulate a control oriented dynamic model from which an Optimal Control System was suggested for the IPMC actuator and supported by experimental results on the tip displacement

Materials and Textile Architecture Analyses for Mechanical Counter-Pressure Space Suits using Active Materials

Mechanical counter-pressure (MCP) space suits have the potential to improve the mobility of astronauts as they conduct planetary exploration activities. MCP suits differ from traditional gas-pressurized space suits by applying surface pressure to the wearer using tight-fitting materials rather than pressurized gas, and represent a fundamental change in space suit design. However, the underlying technologies required to provide uniform compression in a MCP garment at sufficient pressures for space exploration have not yet been perfected, and donning and doffing a MCP suit remains a significant challenge. This research effort focuses on the novel use of active material technologies to produce a garment with controllable compression capabilities (up to 30 kPa) to address these problems. We provide a comparative study of active materials and textile architectures for MCP applications; concept active material compression textiles to be developed and tested based on these analyses; and preliminary biaxial braid compression garment modeling results.United States. National Aeronautics and Space Administration (OCT Space Technology Research Fellowship Grant NNX11AM62H)MIT-Portugal Progra

Ionic polymer-metal composites: manufacturing and characterization

This project focus on the investigation of ionic Electroactive Polymers (EAPs) as an electrolyte in the creation of Ionic Polymer-Metal Composites (IPMCs). The polymer electrolyte is coated with a noble metal (gold) and used for the study of actuation, that is, inducing a change in the shape of the material by the application of an electric current. Firstly a review in EAP actuators is provided, explaining the different mechanisms of actuation, their applications and their potential improvements for future research and work. Later on, it is explained how we built an IPMC and how we implemented actuation in it. Different techniques were used in order to characterize our material such as Differential Scanning Calorimetry (DSC), Thermogravimetric Analysis (TGA) or Scanning Electron Microscopy (SEM). The material was also subjected to tensile tests in an INSTRON machine to evaluate their strength and Young's modulus. This work intends to demonstrate a simple and cheap method to build EAP actuators with adequate properties in terms of stress, strain, actuation fatigue life and efficiency for application in some fields as a safer, cheaper and suitable alternative to conventional actuators.Ingeniería Aeroespacia

Investigation and Characterization of Conductive DEAP Polymer Materials with Nickel Nanocomposites

Dielectric ElectroActive Polymers, or DEAPs, are devices with coupled electrical and mechanical responses that resemble stretchable parallel plate capacitors, that can act as actuators, sensors, or electrical generators. Currently, the electrode layers on the top and bottom are generally conductive carbon grease, which is dirty and also causes curing issues for certain polymers. This thesis explores several polymers and conductive fillers to identify a conductive nanocomposite material, to replace the grease electrode with a solid material and eliminate issues associated with grease electrodes. It then characterizes the mechanical and electric properties and how they change during cyclic loading, while augmenting an equibiaxial tensile testing machine and advancing the knowledge of equibiaxial characterization. The most promising polymer/filler combination was found to be EcoFlex30, a platinum cure silicone rubber, containing seven volume percent of nickel nanostrands and three volume percent of 0.1 mm length nickel-coated carbon fiber. Using two conductive fillers of different sizes resulted in much higher conductivity than a single filler alone, and an enormous piezoresistive effect. This material gave weak conductivity at no load, increasing several orders of magnitude as strained and well surpassing the benchmark of 1.2 S/m set by conductive carbon grease. Elastomer materials were found to have conductivities as high as 275 S/m under peak strain, and changing the nickel-coated carbon fiber length allowed for strains over 120%. Equibiaxial stress-strain curves were also analyzed for energy lost through hysteresis, in order to compare to published results for DEAPs used as Dielectric Energy Generators. Results and recommendations are presented for using and further improving the materials for applications of DEAPs used as energy harvesters and capacitive sensors, using the material alone as a piezoresistive sensor, and improving the equibiaxial characterization process

"Equivalent" material properties for designing ionic polymer metal composite actuators by equivalent bimorph beam theory

This thesis addresses the Ionic Polymer Metal Composite (IPMC) actuators and two “equivalent” materials parameters for their design and performance assessments: electromechanical coupling coefficient and elastic modulus. The “equivalent” parameters not being material constants are derived from equivalent bimorph beam model. The Nafion membrane based IPMC actuator strips of several thicknesses are manufactured by electrochemical platinization method. The effect of the thickness and operating voltage on the equivalent coupling coefficient is demonstrated by using a design of experiment of three and five levels of the two factors, respectively. Experiments and finite element analyses using MD.NASTRAN are used to evaluate the tip displacement and the coupling coefficient for which response surface (RS) approximation as function of the thickness and voltage are constructed. Experiments and predictions indicate that thickness and voltage are interacting major factors for maximum tip displacement. The equivalent coupling coefficient is primarily driven by the thickness, and the voltage appears to contribute as the thickness increases. Initial curvature of the strips before excitation is also shown to be a factor for “equivalent” coupling coefficient, it is not, however sufficient to explain the variation in the experimental data. Correction factor approach is proposed and applied to the straight beam tip displacement RS that filters out experimental variation. Corrected RS enables to include the pre-imposed initial curvature as design parameter along with the actuator thickness and the operating peak voltage when predicting the tip displacement and the equivalent coupling coefficient. IPMC actuator “equivalent” elastic modulus is also determined by using blocking force data. The “equivalent” properties, electromechanical coefficient and young’s modulus by the equivalent bimorph beam model works reasonably well in calculating the actuation force at the tip by MD.NASTRAN. These “equivalent” material properties can be easily implemented in preliminary design of actuator made of IPMC

Ioonsete süsinik-ioonne vedelik-polümeer komposiitide miniaturiseerimine ja kapseldamine

https://www.ester.ee/record=b5163182*es

Dynamic Modeling of Soft Robotic Dielectric Elastomer Actuator

Dielectric elastomers actuators (DEAs) are among the preferred materials for developing lightweight, high compliance and energy efficient driven mechanisms for soft robots. Simple DEAs consist mostly of a homogeneous elastomeric materials that transduce electrical energy into mechanical deformation by means of electrostatic attraction forces from coated electrodes. Furthermore, stacking multiple single DEAs can escalate the total mechanical displacement performed by the actuator, such is the case of multilayer DEAs. The presented research proposes a model for the dynamical characterization of multilayer DEAs in the mechanical and electrical domain. The analytical model is derived by using free body diagrams and lumped parameters that recreate an analogous system representing the multiphysics dynamics within the DEA. Hyperelasticity in most elastomeric materials is characterized by a nonlinear spring capable of undergoing large deformation; thus, defining the isostatic nonlinear relationship between stress and stretch. The transient response is added by employing the generalize Kelvin-Maxwell elements model of viscoelasticity in parallel with the hyperplastic spring. The electrostatic pressure applied by the electrodes appears as an external mechanical pressure that compress the material; thus, representing the bridge between the electrical and mechanical domain. Moreover, DEAs can be represented as compliant capacitors that change their capacitance as it keeps deforming; consequently, this feature can be used for purposes of self-sensing since there is always a capacitance value that can be mapped into the actual displacement. Therefore, an analytical model of an equivalent circuit of the actuator is also derived to analyze the changes in the capacitance while the actuator is under duty. The models presented analytically are then cross-validated by finite element methods using COMSOL Multiphysics® as the software tool. The results from both models, the analytical and FEM model, were compared by virtually recreating the dynamics of a multilayer DEA with general circular cross section and material parameters from VHB4905 3M commercially available tape. Furthermore, this research takes the general dynamical framework built for DEAs and expand it to model the dynamical system for helical dielectric elastomer actuators (HDEAs) which is a novel configuration of the classical stack that increases the nonlinearity of the system. Finally, this research present a complementary study on enhancing the dielectric permittivity for DEAs, which is an electrical material property that can be optimized to improve the relationship between voltage applied and deformation of the actuator

Additively Manufactured Dielectric Elastomer Actuators: Development and Performance Enhancement

The recently emerging and actively growing areas of soft robotics and morphing structures promise endless opportunities in a wide range of engineering fields, including biomedical, industrial, and aerospace. Soft actuators and sensors are essential components of any soft robot or morphing structure. Among the utilized materials, dielectric elastomers (DEs) are intrinsically compliant, high energy density polymers with fast and reversible electromechanical response. Additionally, the electrically driven work principle allows DEs to be distributed in a desired fashion and function locally with minimum interference. Thus, a great effort is being made towards utilizing additive manufacturing (AM) technologies to fully realize the potential of DE soft actuators and sensors. While soft sensors have received more attention and development due to their simpler implementation, DE actuators (DEAs) set stricter AM and electrode material requirements. DEAs’ layered structure, compliant nature, and susceptibility to various defects make their manufacturability challenging, especially for non-trivial biomimetic soft robotics geometries. This dissertation comprehensively analyzes DE materials’ transition into a soft actuator using AM to facilitate effective DEA soft actuator fabrication. Closely interrelated fabrication techniques, material properties, and DEA geometries are analyzed to establish a fundamental understanding of how to implement high-quality DEA soft actuators. Furthermore, great attention is paid to enhancing the performance of printed DEAs through developing printable elastomer and electrode materials with improved properties. Lastly, performance enhancement is approached from the design point of view by developing a novel 3D printable DEA configuration that actuates out-of-plane without stiffening elements