Title: Development and application of a thin 3-DOF dielectric elastomer actuator

Authors: Changan Jiang; Masafumi Kadokawa

Addresses: Department of Robotics, Osaka Institute of Technology, 1-45 Chayamachi, Kita-ku, Osaka 530-8568, Japan ' Graduate School of Robotics and Design, Osaka Institute of Technology, 1-45 Chayamachi, Kita-ku, Osaka 530-8568, Japan

Abstract: In recent years, soft actuators which are used to constitute flexible mechanisms, or to drive soft robots, have been actively studied because of their distinctive features such as flexibility and retractility. Among soft actuators, dielectric elastomer actuators (DEAs) are particularly superior in that they have a simple structure, light weight, low cost and high energy efficiency. In this study, in order to develop a functional compact actuator, elastomer sheet is applied to construct a thin elastomer actuator. By reasonably configuring the electrode position, 3-DOF actuation is realised. Since the performance of DEAs depends on pre-stretching status, performance test is conducted under different pre-stretching. And the relationship between applied voltage and displacement of the developed DEA is obtained from experimental results. To verify the developed DEA's effectiveness, an application of drawing figures is realised.

Keywords: dielectric elastomer actuator; DEA; 3-DOF; DEA-based drawing device; smart material.

DOI: 10.1504/IJAMECHS.2023.131339

International Journal of Advanced Mechatronic Systems, 2023 Vol.10 No.2, pp.80 - 87

Received: 24 Sep 2022
Accepted: 24 Jan 2023
Published online: 06 Jun 2023 *

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