LAUSR

Liquid crystal elastomer (LCE) is a promising candidate for actuation in light-driven soft robot applications. Due to the fact that LCE has complex hysteretic nonlinearities, which are highly dependent on the environment, modeling of actuators made of LCE is a very challenging issue. In this article, a model is proposed to describe the deformation of the LCE actuator accurately and analytically by considering the dynamic phase transition process of LCE molecules. First, an overview of the physical process of LCE's deformation is presented, and the schematic of the LCE actuator, as well as the modeling scheme are then introduced. Next, a thermodynamic analysis of the system's free energy is performed to establish the model for the LCE actuator, which gives the relationship between the system's deformation and the temperature. Here, to describe the complex hysteretic nonlinearity in the model, the dynamic process of the phase transition of LCE molecules is exploited. To effectively identify the model parameters, a two-step parameter identification strategy based on the differential evolution algorithm and nonlinear least-squares method is utilized. Finally, experimental results verify the validity of the proposed model. This modeling provides an approach to describe LCE's deformation with high accuracy and can fully reflect the physical nature of LCE's deformation, especially hysteresis. It can be utilized as a basis for accurate control over LCE actuators in photoresponsive soft robot applications.