Planar electrohydraulic HASEL (hydraulically amplified, self-healing, electrostatic) actuators are soft actuators which display large linear strains and actuation stresses, as well as high specific energies and specific powers. We use the energy minimization approach to derive a nonlinear quasistatic model to describe the actuation behavior of planar HASEL actuators. In the model, we consider the large strains in the shell due to the Maxwell stress, large deflections of the actuator from the electrostatic zipping, and the hydraulic coupling due to the liquid. We apply the model to both linear planar and circular planar HASEL actuators and compare the results with experimental data
KEYWORDS: Actuators, Liquids, Data modeling, Systems modeling, Electrodes, Dielectrics, Time metrology, Polymers, Polymeric actuators, High speed cameras
Electrohydraulic HASEL (hydraulically amplified, self-healing, electrostatic) actuators are a versatile class of soft actuators that feature large strains, fast actuation, and high power densities. Using the Peano-HASEL actuator as a model system, this work investigates the dynamic behavior of HASEL actuators experimentally and theoretically. A dimensional analysis identifies two different dynamic regimes in which single characteristic time scales govern the speed of actuation: a viscous and an inertial regime. Based on a numeric model for the dynamic behavior of Peano-HASEL actuators we provide guidelines for the design of fast HASEL actuators.
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