Characterization of HASEL actuator performance using dimensional analysis

Soft electrohydraulic (SEH) actuators are novel smart technology, which include the EPIC actuator, HAXELs, and the original SEH, the HASEL actuator. The HASEL actuator improves upon the dielectric elastomer actuator (DEA), by including a hydraulic component as a means to create a large strain. To better understand the complex electro-hydro-mechanical (EHM) process and dynamics of the actuator, this study applies dimensional analysis. Eight dimensionless Π groups are developed that describe the dynamics a SEH actuator, specifically the HASEL actuator. The performance of the actuator is characterized using the dimensionless Π groups and experimental testing results. From this study, the use of dimensionless analysis is shown to be effective in characterizing the performance of the HASEL actuator.