Port-Hamiltonian modeling of large-scale curling HASEL actuators

Authors

Cristobal Ponce, Nelson Cisneros, Yongxin Wu, Kanty Rabenorosoa, Yann Le Gorrec, Hector Ramirez

Abstract

This paper presents a modeling methodology to enhance the dynamic performance of the mechanical component of finite-dimensional curling HASEL (Hydraulically Amplified Self-Healing Electrostatic) actuators within the port-Hamiltonian systems framework. The proposed approach entails replacing the sheet dynamics that limit deformation in a low-scale model with those derived from a large-scale discretized beam model. By making a few additional assumptions compared to the original low-scale HASEL model, the resulting interconnected system is established by aligning the states of the mechanical component in the low-scale model with those of the large-scale beam model in a straightforward manner. To validate the effectiveness of the methodology, simulated examples are provided along with a comparison to experimental results.

Keywords

Port-Hamiltonian systems; Modeling; HASEL actuator; Soft actuator

Citation

• Journal: IFAC-PapersOnLine
• Year: 2024
• Volume: 58
• Issue: 21
• Pages: 238–243
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2024.10.219
• Note: 4th IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2024- Lyon, France, September 4-6, 2024

BibTeX

@article{Ponce_2024,
  volume={58},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2024.10.219},
  number={21},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Ponce, Cristobal and Cisneros, Nelson and Wu, Yongxin and Rabenorosoa, Kanty and Gorrec, Yann Le and Ramirez, Hector},
  year={2024},
  pages={238--243}
}

Download the bib file

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