Dynamics of electrohydraulic HASEL actuators

Philipp Rothemund; Sophie Kirkman; Christoph Keplinger

doi:10.1117/12.2581746

22 March 2021 Dynamics of electrohydraulic HASEL actuators

Philipp Rothemund, Sophie Kirkman, Christoph Keplinger

Proceedings Volume 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII; 1158704 (2021) https://doi.org/10.1117/12.2581746
Event: SPIE Smart Structures + Nondestructive Evaluation, 2021, Online Only

Abstract

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.

Conference Presentation

Citation Download Citation

Philipp Rothemund, Sophie Kirkman, and Christoph Keplinger "Dynamics of electrohydraulic HASEL actuators", Proc. SPIE 11587, Electroactive Polymer Actuators and Devices (EAPAD) XXIII, 1158704 (22 March 2021); https://doi.org/10.1117/12.2581746

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