The composite structure with the dielectric elastomer and soft materials is the main form of the actuators in soft robots. However, the theoretical model is hard to obtain due to the nonlinear large deformation of materials. In this paper, a new composite element model is established based on the absolute nodal coordinate formulation. The consistent deformation conditions at the contact interface between two thin plates are deduced. The hyperelastic constitutive model and the dielectric elastomer constitutive model are introduced for the two thin plates. Then the dynamic model is established to study the dynamic behaviors of the composite flexible structure with various parameters. The results show that the nonlinear deformation appears obviously when the flexible composite plate structure is driven by various voltages, and the warping deformation becomes more obvious with the increase of the voltage. The width and thickness of the driven thin plate influence the stability of the whole structure. With the decrease of the width or thickness, the deformation of the structure is more consistent with obvious periodicity, and the control performance is improved. Finally, the structural parameters of the composite structures are optimized to improve the control performance based on the dynamic performance. Additionally, smaller width and thickness parameters are preferred to obtain better performance in the design of flexible actuator of soft robot.
YANG Dan(杨丹),YU Haidong*(余海东)，LIN Zhangpeng(林张鹏)
. Dynamic Analysis and Optimal Parameter Design of Flexible Composite Structures via Absolute Nodal Coordinate Formulation[J]. Journal of Shanghai Jiaotong University(Science), 2023
, 28(5)
: 621
-629
.
DOI: 10.1007/s12204-022-2419-4
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