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PAMM Proc. Appl. Math. Mech. 11, 359 360 (2011) / DOI 10.1002/pamm.

201110171

A finite element formulation of a viscoelastic model for


dielectric elastomers
Alexander Bueschel1, , Sven Klinkel2 , and Werner Wagner1
1
Karlsruhe Institute of Technology, Institute for Structural Analysis, Kaiserstr. 12, D-76131 Karlsruhe
2
TU Kaiserslautern, Statik und Dynamik der Tragwerke, Paul-Ehrlich-Str. 14, D-67633 Kaiserslautern

Smart materials by definition, are solids, fluids or gases which react independently on changing external conditions and
modify one or more properties without external stimuli. Sensu lato an external energy can produce the reaction, such as
stress, temperature, moisture, pH, magnetic or electric fields. The distinguishing characteristic for electroactive polymers
(EAP) is, that they react with a deformation by the application of an electrical field. This contribution presents a nonlinear
electro-viscoelastic model for dielectric elastomers and its finite element implementation. This type of smart materials belong
to the group of EAPs and consists out of soft elastomer between compliant and conducting electrodes.
c 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim

1 Theory
A deformable electrically sensitive body is considered in its reference configuration B0 .

1.1 Kinematic
It is treated a quasistatic electromechanic theory. In this way, from the Faradays law of induction, Curl[E] ~ = ~0 can be
~
derived. Herein E represents the electric field. This quantity can although be deduced from a scalar potential function, the
~ = Grad[]. The deformation gradient F = 1 + Grad[~u] is decomposed multiplicative in an
electrostatic potential , as E
elastic part Fe and viscous part Fv , it reads F = Fe Fv [1], wherein ~u denotes the displacement. In the finite element treatment
~ are the unknown variables, the degrees of
the displacement ~u and for reasons of simplicity , in place of the electric field E,
freedom.

1.2 Equilibrium
The equilibrium condition in the presence of an electric field and by neglecting mechanical body forces is given through
Div[F S] + 0 ~fe = ~0. Here S denotes the 2nd Piola-Kirchhoff stress tensor and ~fe denotes the electric body force. This
force can be transformed into an electric stress tensor, such that Div[F Te ] = ~fe . Whereby Te is a 2nd Piola-Kirchhoff type
stress tensor. The balance law of linear momentum is written in this case as Div[F T] = ~0. T denotes the total stress, where
T = S + Te . From the Gauss law, the electric displacement D ~ is determined by Div[D]
~ = 0. This quantity is related to the
~ 1 ~ ~ ~
electric field via D = 0 J C E + P, where P denotes the polarization. It differs from zero only in polarizable material and
0 is the permittivity of free space, also referred to as the electric constant.

1.3 Constitutive equation


The dissipation inequality reads, W ~ Pm k : k C
+ T : 1/2 C ~P E v 0 with k = W/ k Cv , in the presence of
k
electric fields. The latter term on the left-hand side represents the dissipative viscous part through the so called internal variable
Fkv . Whereby k represents the number of the dissipative mechanism, k = 1, . . . , m. In the abovementioned formula C and
k T
Cv = k Fv k Fv represents the elastic and the viscous right Cauchy-Green deformation tensor, respectively. The dissipation
inequality, which based on the first and second law of thermodynamics, provides the thermodynamical framework. The
inequality makes the restriction, (T 2 W/C) : 1/2 C (~P + W/ E) ~ E~ 0, that every non-viscous mechanism is equal
zero for every admissible process. Thus, the stress is given by T = 2 W/C and for the polarization holds ~P = W/ E. ~
k
Pm k
The remaining inequality, : Cv 0, gives the evolution law for the internal variable, the viscous deformation
k
k
Fv . This relation is solved within the finite element treatment by a predictor-corrector method. The free energy W depends
on C, Cv and E. ~ This energy is additive decomposed into an elastic, electric and viscous part, Welast , Welect and k W v ,
respectively. Wherein the viscous part depends only on the viscous deformation Cv . The electric part is based on invariants
of C and so called pseudo-invariant of E ~ and C. To incorporate the free energy of vacuum the free energy W is transformed
1 ~ ~
into = W 1/2 0 J C : E E [2].
Corresponding author: Email alexander.bueschel@kit.edu, phone +49 721 608 4 6893, fax +49 721 608 4 6015

c 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim



360 Section 6: Material modeling in solid mechanics

2 Example wrapped actuator


As an example, a so called wrapped actuator is presented, which consist out of coiled passive and active layers. In Fig. 1a,

-1500-1000 -500 0 500 1000 1500


electric potential [V]
a) 0 0.5 1 1.5 2 2.5 3 b)
displacement [mm]

Fig. 1 a) Geometry of the actuator and Point P for the measurement of the displacement in axial direction; b) Hysteresis curve for ten
cycles of the sinusoidal loading by f1 = 0.1 Hz, measured at Point P in axial direction

the colored pictured elements are the nonlinear visco-electroelastic elements with the brightly pictured electric loaded surface
(active layer). The specimen is modeled with eight elements in axial direction and 200 elements in circumferential direction.
The nonconducting elements (passive layer) between the active layers are not shown. This passive layer is formed by nonlinear
elements containing the same neo-Hookean material model as mentioned below with the parameters = 357 N/mm2 and
= 3570 N/mm2 . Both elements uses trilinear shape function. For the active elements a neo-Hookean material model is
used for both, the elastic energy Welast and the viscous energy Wv . In either cases the energy for the non-electric energy
reads Welast (A , J) = e /2(2A 3 ln[J 2 ]) and k Wv (A v , J) = k v /2(2A v 3 ln[J 2 ]). The material parameters
are in each case = 5 N/mm2 and = 10 N/mm2 . The relaxation time  is set to k = 10 s. It is considered only one
2 2
mechanism k = 1. A volumetric part Wvol (J) = 1/4 J 1 ln[J ] is added to both functions. For the electric energy
~ = c1 ( E
holds, Welect (C, E) ~ E)
~ : 1 + c2 ( E
~ E)
~ : C [3, 4]. For both, the electric c1 and the electric-mechanical parameter
c2 it is adopt the value 0.5 106 N/V . The electric constant 0 is neglected. The actuator has a length of 15 mm. It is spiral-
shaped coiled with a starting radius of rs = 1 mm and an ending radius of re = 4 mm. The passive layer has a thickness of
tp = 0.3 mm and the active layer of ta = 0.5 mm. As mentioned previously, the surface of the active layers is loaded at the
inner surface with a sinusoidal electric potential and the outer surface is grounded. The sinus shaped loading is applied with a
amplitude of 1500 V and three different frequencies are considered, f1 = 0.1 Hz, f1 = 1 Hz and f1 = 10 Hz, respectively.
Results can be seen in Fig. 2., the displacement is measured at Point P (s. Fig. 1a). The specimen is clamped at the bottom
end, taking into account that at this en no electrical potential is applied. At the top end the actuator has only the possibility to
move axially. In Fig. 1b, the hysteresis curve is pictured for the frequency f1 . In this figure, it can be seen clearly, that the
500 1000 1500
3 3 3
2.75 2.75 2.75
2.5 2.5 2.5
electric potential [V]

2.25 2.25 2.25


displacement [mm]

2 2 2
1.75 1.75 1.75
0

1.5 1.5 1.5


1.25 1.25 1.25
-1500 -1000 -500

1 1 1
0.75 0.75 0.75
0.5 0.5 0.5
0.25 0.25 0.25
0 0 0
0 20 40 60 80 100 0 2 4 6 8 10 0 0.2 0.4 0.6 0.8 1
time [s] time [s] time [s]

Fig. 2 Results for different frequencies f1 = 0.1 Hz, f2 = 1 Hz and f3 = 10 Hz measured at Point P in axial direction

displacement is always positive even if the loading is negative, which is a consequence of the quadratic formulation. As you
can see, in Fig. 2, the higher the frequency the lower the influence of the viscous effect. This phenomenon describes the fact,
that the material hasnt the time to react viscous on the rapidly changing loading.
References
[1] S. Reese and S. Govindjee, International Journal for Solids Structures 35, 34553482 (1998).
[2] A. Dorfmann and R.W. Ogden, Acta Mechanica 147, 167183 (2005).
[3] D.K. Vu, P. Steinmann, and G. Possart, International Journal For Numerical Methods in Engineering 70, 685704 (2007).
[4] G.A. Maugin, Continuum mechanics of electromagnetic solids (North-Holland, Amsterdam, 1988), p. 598.

c 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim


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