Compared to robots and devices made of rigid components, soft robots and flexible devices driven by soft active materials possess various advantages including high adaptability under extreme environment and compatibility with a human. Dielectric elastomer (DE) membrane, which is commonly used in building soft actuators, can achieve large actuation by the combined loadings of voltage-induced Maxwell stress and fluidic pressures (pneumatic and hydraulic pressure). This paper proposes a pneumatic–hydraulic coupled electromechanical actuator (PHCEA), which exhibits strong coupling effect of electromechanical actuation (the Maxwell stress on DE membrane), pneumatic and hydraulic pressures. Considering the moving boundary and state transition, a computational model has been developed to investigate the coupling behaviors of the PHCEA. The numerical result by this model is in accordance with the experimental measurements. The combination of experimental data and the theoretical result indicates that the state transition and moving boundary separate the potential region of electrical breakdown and mechanical damage. This model can be utilized as a practical method to characterize the performance and guide the design of soft devices. The experimental setup and computational method of the PHCEA bring new insights into the fabrication and characterization of soft robots, adaptive optics, and flexible bio-medical devices. The PHCEA possesses wide applications in underwater robots, soft muscles, and microfluidics systems. It can serve as the gas bladder of soft swimming robots, the soft actuator of hydraulic–pneumatic coupling systems, and the gas–liquid valve of flexible microfluidics systems.
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March 2019
Research-Article
Investigation of the State Transition and Moving Boundary in a Pneumatic–Hydraulic Coupled Dielectric Elastomer Actuator
Liyuan Chen,
Liyuan Chen
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: liyuanch@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: liyuanch@zju.edu.cn
Search for other works by this author on:
Weijia Chen,
Weijia Chen
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3150105252@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3150105252@zju.edu.cn
Search for other works by this author on:
Yaoting Xue,
Yaoting Xue
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3160105511@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3160105511@zju.edu.cn
Search for other works by this author on:
Mingqi Zhang,
Mingqi Zhang
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: zhangmq@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: zhangmq@zju.edu.cn
Search for other works by this author on:
Xiangping Chen,
Xiangping Chen
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: chenxiangping@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: chenxiangping@zju.edu.cn
Search for other works by this author on:
Xunuo Cao,
Xunuo Cao
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: caoxn@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: caoxn@zju.edu.cn
Search for other works by this author on:
Zhen Zhang,
Zhen Zhang
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: Zhangzhen105@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: Zhangzhen105@zju.edu.cn
Search for other works by this author on:
Guorui Li,
Guorui Li
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: guoruili@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: guoruili@zju.edu.cn
Search for other works by this author on:
Tiefeng Li
Tiefeng Li
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: litiefeng@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: litiefeng@zju.edu.cn
Search for other works by this author on:
Liyuan Chen
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: liyuanch@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: liyuanch@zju.edu.cn
Weijia Chen
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3150105252@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3150105252@zju.edu.cn
Yaoting Xue
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3160105511@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: 3160105511@zju.edu.cn
Mingqi Zhang
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: zhangmq@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: zhangmq@zju.edu.cn
Xiangping Chen
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: chenxiangping@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: chenxiangping@zju.edu.cn
Xunuo Cao
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: caoxn@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: caoxn@zju.edu.cn
Zhen Zhang
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: Zhangzhen105@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: Zhangzhen105@zju.edu.cn
Guorui Li
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: guoruili@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: guoruili@zju.edu.cn
Tiefeng Li
State Key Laboratory of Fluid Power and
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Mechatronic Systems,
Zhejiang University,
Hangzhou 310027, China;
Department of Engineering Mechanics,
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Zhejiang University,
38 Zheda Road,
Hangzhou 310027, China;
Key Laboratory of Soft Machines and
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: litiefeng@zju.edu.cn
Smart Devices of Zhejiang Province,
Zhejiang University,
Hangzhou 310027, China
e-mail: litiefeng@zju.edu.cn
1Corresponding author.
Manuscript received October 17, 2018; final manuscript received November 28, 2018; published online December 24, 2018. Assoc. Editor: Yong Zhu.
J. Appl. Mech. Mar 2019, 86(3): 031004 (12 pages)
Published Online: December 24, 2018
Article history
Received:
October 17, 2018
Revised:
November 28, 2018
Citation
Chen, L., Chen, W., Xue, Y., Zhang, M., Chen, X., Cao, X., Zhang, Z., Li, G., and Li, T. (December 24, 2018). "Investigation of the State Transition and Moving Boundary in a Pneumatic–Hydraulic Coupled Dielectric Elastomer Actuator." ASME. J. Appl. Mech. March 2019; 86(3): 031004. https://doi.org/10.1115/1.4042136
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