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Liquid crystal elastomer-based actuators (LCEAs) exhibit large, reversible deformation, which demonstrates superior advantages in developing remote controlled, light-weighted soft robots. However, deformation of LCEAs undergoes complicated physical dynamics and exhibits highly nonlinear hysteretic characteristics, posing challenges in the realization of related applications. It is necessary to develop a dynamic model that captures the characteristics of LCEAs. With this purpose, this paper proposes a dynamic modelling approach for LCEAs to provide a hybrid model for LCEAs with reduced computational complexity and high precision. In the research, a modelling scheme based on a physics-phenomenon-combined approach for LCEAs is proposed, which considers the elastic free energy, the nematic free energy and dissipation of the LCEA. Physics-based models are then developed to describe these energies. Meanwhile, a phenomenon-based model is proposed to characterise the hysteresis as a component of the nematic free energy. The above models are combined together to provide the final hybrid model for the LCEA. To verify the proposed model, a photo-responsive LCEA experimental platform is established and experiments are conducted. Model parameters are identified based on the nonlinear least-squares method. The experimental results demonstrate the proposed model as an excellent representative to characterise LCEAs' dynamic behaviours.

Dynamic modelling of liquid crystal elastomer actuators based on a physics-phenomenon-combined approach