Design and characterization of shell-like actuators based on soft dielectric electroactive polymers

This paper is concerned with shell-like actuators based on soft dielectric EAPs, which can actively execute out-of-plane displacements and thus take specific shapes. The structure of the actuators consists of an array of identical segments, where the pre-strained dielectric films are arranged in an agonist–antagonist configuration. The design of the active segments was optimized based on a hyperelastic model for the dielectric film in order to achieve maximum free deformations and blocking loads under activation. Applying these design criteria, shell-like actuators consisting of several interconnected active segments were realized, which can accomplish uniaxial or biaxial bending deformations. Experimental characterization demonstrated the free deformation potential of the presented concepts.