Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators

Wang, Xi; Raimondi, Luca; Axinte, Dragos; Dong, Xin

Abstract

Dielectric elastomer actuators (DEAs) have been widely studied in soft robotics due to their muscle-like movements. Linear DEAs are typically tensioned using compression springs with positive stiffness or weights directly attached to the flexible film of the DEA. In this paper, a novel class of 2D profile linear DEAs (butterfly-and X-shaped linear DEAs) with compact structure is introduced, which, employing negative-stiffness mechanisms, can largely increase the stroke of the actuators. Then, a dynamic model of the proposed amplified-stroke linear DEAs (ASL-DEAs) is developed and used to predict the actuator stroke. The fabrication process of linear DEAs is presented. This, using compliant joints, 3D-printed links, and dielectric elastomer, allows for rapid and affordable production. The experimental validation of the butterfly-and X-shaped linear DEAs proved capable of increasing the stroke up to 32.7% and 24.0%, respectively, compared with the conventional design employing springs and constant weights. Finally, the dynamic model is validated against the experimental data of stroke amplitude and output force; errors smaller than 10.5% for a large stroke amplitude (60% of maximum stroke) and 10.5% on the output force are observed.

Citation

Wang, X., Raimondi, L., Axinte, D., & Dong, X. (2025). Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators. Journal of Mechanisms and Robotics, 17(3), Article 031008. https://doi.org/10.1115/1.4066131

• Journal Article Type: Article
• Acceptance Date: Mar 4, 2024
• Online Publication Date: Aug 2, 2024
• Publication Date: 2025-03
• Deposit Date: Aug 19, 2024
• Journal: Journal of Mechanisms and Robotics
• Print ISSN: 1942-4302
• Electronic ISSN: 1942-4310
• Publisher: American Society of Mechanical Engineers
• Peer Reviewed: Peer Reviewed
• Volume: 17
• Issue: 3
• Article Number: 031008
• DOI: https://doi.org/10.1115/1.4066131
• Public URL: https://nottingham-repository.worktribe.com/output/38365829
• Publisher URL: https://asmedigitalcollection.asme.org/mechanismsrobotics/article-abstract/doi/10.1115/1.4066131/1201946/Investigation-on-a-class-of-2D-profile-amplified
• Additional Information: Paper No: JMR-23-1609