Mr. Abdullah El Atrache Profile

Abdullah El Atrache

PhD Candidate

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Proceedings Article | 13 March 2019 Paper

A dynamic model of helical dielectric elastomer actuator

Abdullah El Atrache, Daewon Kim, Eduardo Divo, Sergey Drakunov

Proceedings Volume 10966, 109660Z (2019) https://doi.org/10.1117/12.2514382

KEYWORDS: Actuators, Dielectric elastomer actuators, Dielectrics

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Advances in soft robotic systems enable to create devices that can elegantly deal with complex environments and gently interface with humans. However, much progress in actuator technologies is required for adoption in practical and commercial scale-up implementations. An helical dielectric elastomer actuator (HDEA) can be a promising solution that fits in these applications. Nevertheless, in order to move forward from theory to practice, many aspects still need to be developed and advanced. For instance, current works may be insufficient to advance the topics in control systems applied to actuator geometry, in relation to relevant segments such as material synthesis and design for manufacturing. It is apparent that absence of a more complete and generalized dynamics model of an HDEA limits rapid engineering progress in this field. In some previous research, important contributions of electromechanical model were proposed for linear and nonlinear hyperelastic materials. However, other effects such as viscoelasticity and hysteresis in the strain-voltage relation were often neglected. This paper presents the dynamical model derivation of an HDEA using lumped parameters to model the electrical and mechanical behavior of the actuator. Furthermore, it covers the most imperative effects embedded in the dynamics of the actuator. In this work, the dielectric elastomeric transducer is modeled with VHB 4910 acrylic due to its well-documented material parameters needed in the non-linear strain energy functions.

Proceedings Article | 27 March 2018 Paper

Optimization of helical dielectric elastomer actuator with additive manufacturing

Jang Ho Park, Abdullah El Atrache, Daewon Kim, Eduardo Divo

Proceedings Volume 10594, 105940Z (2018) https://doi.org/10.1117/12.2296720

KEYWORDS: Additive manufacturing, Dielectric elastomer actuators, Actuators, Silicon, Electroactive polymers

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Fabrication of dielectric elastomer actuator (DEA) using additive manufacturing techniques can provide an alternative solution for current manufacturing processes of DEAs that are generally inconsistent and time consuming. In addition, additive manufacturing can allow DEAs with complex geometric configurations to be realized. This study investigates analytical approaches to optimize the performance of helical dielectric elastomer actuator (HDEA) based on additive manufacturing technologies. Optimized geometric configurations tailored to additive manufacturing and proper material selection for elastomer and electrode can improve the overall performance of HDEA. Due to the absence of pre-stretch in the elastomer membranes with additive manufacturing, associated drawbacks, such as electromechanical instability, high external voltage requirement, and their alternate solutions are analyzed and discussed. The performance of HDEA are evaluated by displacement, block force, and weight-to-force ratio by varying multiple geometric parameters including membrane thickness, pitch angle, inner-toouter electrode ratio, and actuation voltage. Since the selection of materials is as important as the geometric parameters of the actuator, printable elastomer and electrode materials with dielectric and mechanical properties for HDEA are evaluated. By optimizing geometric parameters and selecting appropriate materials based on its properties, appropriate manufacturing techniques are discussed to print both dielectric elastomer and electrode layers.

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