Rigid elements dynamics modeling of a 3D printed soft actuator

Zolfagharian, Ali, Kouzani, Abbas, Moghadam, Amir Ali Amiri, Khoo, Sui Yang, Nahavandi, Saeid and Kaynak, Akif 2019, Rigid elements dynamics modeling of a 3D printed soft actuator, Smart materials and structures, vol. 28, no. 2, pp. 1-13, doi: 10.1088/1361-665X/aae41a.

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Title Rigid elements dynamics modeling of a 3D printed soft actuator
Author(s) Zolfagharian, Ali
Kouzani, AbbasORCID iD for Kouzani, Abbas orcid.org/0000-0002-6292-1214
Moghadam, Amir Ali Amiri
Khoo, Sui Yang
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Kaynak, AkifORCID iD for Kaynak, Akif orcid.org/0000-0002-6679-657X
Journal name Smart materials and structures
Volume number 28
Issue number 2
Article ID 025003
Start page 1
End page 13
Total pages 13
Publisher IOP Publishing
Place of publication Bristol, Eng.
Publication date 2019
ISSN 0964-1726
1361-665X
Keyword(s) Rigid elements dynamics
Modeling
Soft actuator
3D printing
Soft robot
Science & Technology
Technology
Instruments & Instrumentation
Materials Science, Multidisciplinary
Materials Science
Summary Due to the growing interest in three-dimensional (3D) printed soft actuators, the establishment of an appropriate mathematical model that could effectively predict the actuators' dynamic behavior has become necessary. This study presents the development of an effective modeling strategy for the dynamic analysis of a 3D printed polyelectrolyte actuator undergoing large bending deformations. The proposed model is composed of two parts, namely electrical and mechanical dynamic models. The electrical model describes the actuator as a gray box model, whereas the mechanical model relates the stored charges to the bending displacement through considering the printed actuator as a discretized system connected by spring-damping elements. The experimental results verified the accuracy of the proposed model, particularly under large voltages and actuation bending. The proposed discrete rigid elements modeling strategy can be simply extended to other 3D printed hydrogel actuator systems where mechanical pixels are characterized by 3D printing.
Language eng
DOI 10.1088/1361-665X/aae41a
Field of Research 03 Chemical Sciences
09 Engineering
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2018, IOP Publishing Ltd
Persistent URL http://hdl.handle.net/10536/DRO/DU:30116844

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
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