Optimal Design of Electrode Topology of Dielectric Elastomer Actuators Based on the Parameterized Level Set Method.

Abstract

Dielectric elastomer actuators (DEAs) are widely used to drive soft machines, and optimal design is required in more advanced designs of soft robots. In this research article, a computational approach is originally proposed and validated for the topology optimization of electrodes of DEAs. The nonlinear finite elements of absolute nodal coordinate formulation are applied to model the dynamic electromechanical behaviors of DEAs. The parameterized level set method is employed to optimize the electrode topology of DEAs. Then, the method of system-wise equivalent static load is employed to convert the optimization problem of dynamic responses into the static one. Based on the sensitivity analysis, the normal velocity field for optimizing the electrode topology is derived. Finally, two case studies are presented to validate the proposed optimization approach. The experimental test is also performed, and the measured results are compared with the numerical ones to further validate the proposed methodology.