Dynamic Modeling And Analysis Of Magnetic Conical Actuator Base On Absolute Nodal Coordinate Formulation

Dielectric elastomer actuator(DEA)has great prospective of application in the fields of soft robots,sensors,micropump and so on because of the feature of large actuation strain,high actuation efficiency and rapid response.Among them,the conical actuator has the advantages of large displacement and force output.However,the coupling of material nonlinearity,geometric shape and bias device increases the difficulty of establishing and analyzing its dynamic model.The dynamic features of magnetic conical actuator are studied in this paper through its dynamic model,which is established base on the absolute nodal coordinate formulation(ANCF).The main contents are as follows:Firstly,based on the existing ANCF rectangular membrane element and ANCF plane triangular plate element,a ANCF triangular thin plate element is developed.Using the Yeoh model as the constitutive model of silicone rubber cantilever plate,the element mass matrix,element elastic force array and its Jacobian are derived,and its dynamic model is established.The availability of the ANCF triangular thin plate element proposed in this paper are verified by comparing the results of simulation and experiment.Secondly,the non-uniform deformation constitutive model of DE is introduced into the proposed element.The electromechanical coupling elastic force and its Jacobian of DE membrane are derived,and the electromechanical coupling dynamic model of DE membrane is established.The availability of the dynamic model is verified by a simulation case.On this basis,the dynamic model of the magnetic conical actuator is established,and its feasibility is verified by comparing the simulation results with the experimental ones.The effects of structural parameters and voltage loading on the dynamic characteristics of the actuator were studied.Finally,based on the dynamic model of the magnetic conical actuator established in this paper,the influence of pre-stretching and thrust height on the instability of the actuator is analyzed,and the occurrence law of the instability of the actuator is obtained.