The paper also presents key important results both in terms of the existence of minimisers and material stability of coupled electro-mechanics, enhancing previous works in the area of large strain elasticity. This paper introduces a novel polyconvex phenomenological invariant-based transversely isotropic formulation (and relevant computational frameworks) for the simulation of transversely isotropic EAPs at large strains, where the ab initio satisfaction of polyconvexity is exploited to ensure the robustness of numerical results for any range of deformations and applied electric fields. From the computational point of view, the design of accurate and robust albeit efficient constitutive models is a very active area of research. stretching, bending, twisting), especially at large strains, that is, beyond the onset of geometrical pull-in instabilities. The incorporation of crystallographic anisotropic micro-architectures, within an otherwise nearly uniform isotropic soft polymer matrix, has shown great potential in terms of advanced three-dimensional actuation (i.e. The use of Electro-Active Polymers (EAPs) for the fabrication of evermore sophisticated miniaturised soft robotic actuators has seen an impressive development in recent years.
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