Investigation of the dynamic behavior of dielectric elastomers base artificial muscles

Dielectric Elastomer (DE) is a type of polymer that provides deformation by applying electrical voltage. There are many factors that affect the performance of DE, such as voltage, pre-streching, frequency type applied, and frequency size. Dielectric Elastomer Actuators (DEAs) are among the most popular materials for the next generation of soft robot actuators and artificial muscles. In this thesis, experiments on numerical analysis, surface temperatures and position changes in Soft Dielectric Elastomer Actuators (YDEA) were carried out. Firstly, numerical analysis of DEAs was carried out by using computational methods. The analysis results were compared with the data obtained as a result of the application. In the next step, experimental studies were carried out on the temperature changes on the DEA surface and the factors affecting the temperature of the DEA. These studies are concerned with the investigation of temperature changes on the surface of DEAs produced by various applied waveforms of electrical signals with different frequencies, including square, sine, and triangle. It was observed that the highest temperature on the DEA surface was produced by the square waveform. In addition, surface temperatures reach their maximum values at frequencies ranging from 2 Hz to 10 Hz, regardless of the type of waveform. Finally, experiments and simulations on position and time variation in a circular DEA are performed. In order to see the position change of the DEA quantitatively, two factors, voltage and frequency, are considered. According to the experimental results, it was seen that the voltage and frequency were effective in the change of the position of the DEA. The analyzes and recorded results will provide researchers with reference to the DEA's control of these key parameters. The results obtained showed significant differences in DEA location with different frequency type and different frequency size. In addition, the experiments were tested in the simulation environment and compared with the experimental results using the Yeoh method.