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. Copyright (c) 2024 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)