Journal of Scientific and Industrial Research

Open Access Open Access  Restricted Access Subscription Access

Modeling and Optimization of a Peano-HASEL Actuator Peristaltic Pump


Affiliations
1 Mechanical Engineering Department, Iskenderun Technical University, Hatay, Turkey
 

Peano-Hasel (hydraulically amplified self-healing electrostatic) pumps are crucial devices with unique mechanisms and versatile applications. They simulate muscle contractions to move fluids or materials through tubes. The Peano-Hasel method, a specific design, achieves flow by compressing a segmented tube externally. Exploring the design aspects of Peano-Hasel pumps can lead to advancements in optimizing their performance, efficiency, reliability, and control systems. This paper presents a novel method of peristaltic pumping on soft pipes using Peano-HASEL actuators. In the study, a design evaluation of an external ring-type pump over a PDMS (Polydimethylsiloxane - commonly referred to as silicone) tube containing Newtonian fluids is made, and a novel multi-pouch ring shape design is proposed. Our method utilizes a peripheral and compact design that allows for more efficient sinusoidal pumping action. The close proximity of the rings in the longitudinal direction enhances the effectiveness of the pumping process. The actuator is analytically modeled and optimized for maximum areal contraction and flow rate using a differential evolution algorithm. A MATLAB Simulink Simscape model is generated, and the system is simulated. As a result, an optimal solution for the number of pouches was found to be eight, considering ring geometry and applicability. It was also seen from the simulation that a sinusoidal squeezing scheme of a ring-type pump creates the desired action. Based on the analytical model presented, it has been demonstrated that the optimal flow rate is achieved when there are eight pouches, and they are fully circular after being energized.

Keywords

Analytical Modelling, Evolution Algorithm, Newtonian Fluid, PDMS Tube, Simulink Simulation.
User
Notifications
Font Size

  • Bao G, Fang H, Chen L, Wan Y, Xu F, Yang Q & Zhang L, Soft robotics: Academic insights and perspectives through bibliometric analysis, Soft Robot, 5(3) (2018) 229–241.

  • Kim S, Laschi C & Trimmer B, Soft robotics: A bioinspired evolution in robotics, Trends Biotechnol, 31(5) (2013) 287–294.

  • Coyle S, Majidi C, LeDuc P & Hsia K J, Bio-inspired soft robotics: Material selection, actuation, and design, Extrem Mech Lett, 22 (2018) 51–59.

  • Corucci F, Cheney N, Kriegman S, Bongard J & Laschi C, Evolutionary developmental soft robotics as a framework to study intelligence and adaptive behavior in animals and plants, Front Robot AI, 4(7) (2017) 1–7.

  • Gravish N & Lauder G V, Robotics-inspired biology, J Exp Biol, 221(7) (2018) 1–8.

  • Paley D A, Majidi C, Tytell E & Wereley N, Bioinspired soft robotics: Preface to the special issue, Bioinspir Biomim, 11(2) (2016) 020401.

  • Saif M T A, Alaca B E & Sehitoglu H, Analytical modeling of electrostatic membrane actuator for micro pumps, J Microelectromechanical Syst, 8(3) (1999) 335–345.

  • Kellaris N, Venkata V G, Smith G M, Mitchell S K, & Keplinger C, Peano-HASEL actuators: Muscle-mimetic, electrohydraulic transducers that linearly contract on activation, Sci Robot, 3(14) (2018) 1–11.

  • Acome E, Mitchell S K, Morrissey T G, Emmett M B, Benjamin C, King M, Radakovitz M & Keplinger C, Hydraulically amplified self-healing electrostatic actuators with muscle-like performance, Science, 359(6371) (2018) 61–65.

  • Mitchell S K, Wang X, Acome E, Martin T, Ly K, Kellaris N, Venkata V G & Keplinger C, An easy-to-implement toolkit to create versatile and high-performance HASEL Actuators for untethered soft robots, Adv Sci, 6(14) (2019) 1900178.

  • Rothemund P, Kellaris N & Keplinger C, How inhomogeneous zipping increases the force output of Peano-HASEL actuators, Extrem Mech Lett, 31 (2019) 100542.

  • Manion C A, Patel D K, Fuge M & Bergbrieter S, Modeling and Evaluation of Additive Manufactured HASEL Actuators, IROS 2018 Conference (Madrid, Spain)

  • Ly K, Kellaris N, McMorris D, Johnson B K, Acome E, Sundaram V, Naris M, Humbert J S, Rentschler M E, Keplinger C & Correll N, Miniaturized circuitry for capacitive self-sensing and closed-loop control of soft electrostatic transducers, Soft Robot, 58(12) (2020) soro.2020.0048.

  • Rothemund P, Kirkman S & Keplinger C, Dynamics of electrohydraulic soft actuators, Proc Natl Acad Sci U S A, 117(28) (2020) 16207–16213.

  • Rothemund P, Kellaris N, Mitchell S K, Acome E & Keplinger C, HASEL Artificial muscles for a new generation of lifelike robots—Recent progress and future opportunities, Adv Mater, 2003375 (2020) 1–28.

  • Lin PW & Liu CH, Bio-inspired soft proboscis actuator driven by dielectric elastomer fluid transducers, Polymers (Basel), 11(1) (2019) 142.

  • Wang X, Mitchell S K, Rumley E H, Rothemund P & Keplinger C, High-strain peano-HASEL actuators, Adv Funct Mater, 30(7) (2020) 1–9.

  • Wissman J P, Ikei A K & Rohde C A, Hydraulically Amplified Self-Healing Electrostatic (HASEL) Inspired Actuators (2021), https://doi.org/10.48550/arXiv.2102.13039.

  • Hau S, Rizzello G & Seelecke S, A novel dielectric elastomer membrane actuator concept for high-force applications, Extrem Mech Lett, 23 (2018) 24–28.

  • Kellaris N, Venkata V G, Rothemund P & Keplinger C, An analytical model for the design of Peano-HASEL actuators with drastically improved performance, Extrem Mech Lett, 29 (2019) 100449.

  • Cacucciolo V, Shintake J, Kuwajima Y, Maeda S, Floreano D & Shea H, Stretchable pumps for soft machines, Nature, 572 (7770) (2019) 516–519.

  • Meng Y, Fang Y & Liu C, Research on the virtual prototyping technology of the electric- hydraulicmechanical system based on simcape, ICACTE 2010 - 2010 3rd Int Conf Adv Comput Theory Eng Proc, 1 (2010) 465–469.


Abstract Views: 60

PDF Views: 59




  • Modeling and Optimization of a Peano-HASEL Actuator Peristaltic Pump

Abstract Views: 60  |  PDF Views: 59

Authors

Onat Halis Totuk
Mechanical Engineering Department, Iskenderun Technical University, Hatay, Turkey
Selçuk Mıstıkoğlu
Mechanical Engineering Department, Iskenderun Technical University, Hatay, Turkey

Abstract


Peano-Hasel (hydraulically amplified self-healing electrostatic) pumps are crucial devices with unique mechanisms and versatile applications. They simulate muscle contractions to move fluids or materials through tubes. The Peano-Hasel method, a specific design, achieves flow by compressing a segmented tube externally. Exploring the design aspects of Peano-Hasel pumps can lead to advancements in optimizing their performance, efficiency, reliability, and control systems. This paper presents a novel method of peristaltic pumping on soft pipes using Peano-HASEL actuators. In the study, a design evaluation of an external ring-type pump over a PDMS (Polydimethylsiloxane - commonly referred to as silicone) tube containing Newtonian fluids is made, and a novel multi-pouch ring shape design is proposed. Our method utilizes a peripheral and compact design that allows for more efficient sinusoidal pumping action. The close proximity of the rings in the longitudinal direction enhances the effectiveness of the pumping process. The actuator is analytically modeled and optimized for maximum areal contraction and flow rate using a differential evolution algorithm. A MATLAB Simulink Simscape model is generated, and the system is simulated. As a result, an optimal solution for the number of pouches was found to be eight, considering ring geometry and applicability. It was also seen from the simulation that a sinusoidal squeezing scheme of a ring-type pump creates the desired action. Based on the analytical model presented, it has been demonstrated that the optimal flow rate is achieved when there are eight pouches, and they are fully circular after being energized.

Keywords


Analytical Modelling, Evolution Algorithm, Newtonian Fluid, PDMS Tube, Simulink Simulation.

References