Danfoss PolyPower has developed a tubular actuator comprising a dielectric elastomer sheet with specially shaped compliant electrodes rolled into a tube. This paper is concerned with the modelling of this kind of tubular actuator. This is a challenging task due to the system's multiscale nature which is caused by the orders of magnitude difference between the length and thickness of the sheets as well as the thickness of the electrodes and the elastomer in the sheets. A further complication is the presence of passive parts at both ends of the actuator, i.e. areas without electrodes which are needed in order to avoid short circuits between negative and positively charged electrodes on the two sides of the sheet. Due to the complexities in shape and size it is necessary to introduce some simplifying assumptions. This paper presents a set of models where the three-dimensional problem has been reduced to two-dimensional problems, ensuring that the resulting models can be handled numerically within the framework of the finite element method. These models have been derived by expressing Navier's equation in elliptical cylindrical coordinates in order to take full advantage of the special shape of these actuators. Emphasis is placed on studying the passive parts of the actuator, as these degrade the effectiveness of the actuator. Two approaches are used here to model the passive parts: a spring-stiffness analogy model and a longitudinal section model of the actuator. The models have been compared with experimental results for the force-elongation characteristics of the commercially available PolyPower 'InLastor push' actuator. The comparison shows good agreement between model and experiments for the case where the passive parts were taken into account. One of the models developed is subsequently used to study geometric effects-specifically the effect of changing the ellipticity of the tubular actuator on the actuator's performance is investigated.
展开▼
