Subject to a voltage, a dielectric elastomer (DE) deforms. Voltage‐induced strains of above 100% have been observed when DEs are prestretched, and for DEs of certain network structures. Understanding mechanisms of large actuation strains is an active area of research. We propose that the voltage‐stretch response of DEs may be modified by prestretch, or by using polymers with “short” chains. This modification results in suppression or elimination of electromechanical instability, leading to large actuation strains. We propose a method to select and design a DE, such that the actuation strain is maximized. The theoretical predictions agree well with existing experimental data. The theory may contribute to the development of DEs with exceptional performance. © 2011 Wiley Periodicals, Inc. J Polym Sci Part B: Polym Phys, 2011

Conventional industrial robots with the rigid actuation technology have made great progress for humans in the fields of automation assembly and manufacturing. With an increasing number of robots needing to interact with humans and unstructured environments, there is a need for soft robots capable of sustaining large deformation while inducing little pressure or damage when maneuvering through confined spaces. The emergence of soft robotics offers the prospect of applying soft actuators as artificial muscles in robots, replacing traditional rigid actuators. Dielectric elastomer actuators (DEAs) are recognized as one of the most promising soft actuation technologies due to the facts that: i) dielectric elastomers are kind of soft, motion-generating materials that resemble natural muscle of humans in terms of force, strain (displacement per unit length or area) and actuation pressure/density; ii) dielectric elastomers can produce large voltage-induced deformation. In this survey, we first introduce the so-called DEAs emphasizing the key points of working principle, key components and electromechanical modeling approaches. Then, different DEA-driven soft robots, including wearable/humanoid robots, walking/serpentine robots, flying robots and swimming robots, are reviewed. Lastly, we summarize the challenges and opportunities for the further studies in terms of mechanism design, dynamics modeling and autonomous control.

a b s t r a c tThis paper analyzes a membrane of a dielectric elastomer, prestretched and mounted on a rigid circular ring, and then inflated by a combination of pressure and voltage. Equations of motion are derived from a nonlinear field theory, and used to analyze several experimental conditions. When the pressure and voltage are static, the membrane may attain a state of equilibrium, around which the membrane can oscillate. The natural frequencies can be tuned by varying the prestretch, pressure, or voltage. A sinusoidal pressure or voltage may excite superharmonic, harmonic, and subharmonic resonance. Several modes of oscillation predicted by the model have not been reported experimentally, possibly because these modes have small deflections, despite large stretches.

Conventional robots are mainly made of rigid materials, such as steel and aluminum. Recently there has been a surge in the popularity of soft robots owing to their inherent compliance, strong adaptability and capability to work effectively in unstructured environments. Of the multitude of soft actuation technologies, dielectric elastomer actuators (DEAs), also nicknamed ‘artificial muscles’, exhibit fast response, large deformation and high energy density, and can simply be actuated with electric voltage. In this paper, we will discuss applications of DEAs to soft robots, including robotic grippers, terrestrial robots, underwater robots, aerial robots and humanoid robots. We will survey the state of the art regarding these interesting applications and outline the challenges and perspectives. As we know, there have been extensive studies on dielectric elastomer technology in the aspects of materials, mechanics, design, fabrication and controls. To enable practical applications, efforts are underway to decrease operational voltages, improve reliability, and impart new functionalities. Key challenges include the development of freestanding actuators, untethered operation, smart/electronics free actuators, solid and stretchable electrodes, miniaturization, combination of synergistic actuation technologies to impart novel functionalities, development of effective control strategies, etc. We hope that this review can facilitate and enhance applications of dielectric elastomer technology to soft robots.

A combination of experiment and theory shows that dielectric elastomers exhibit complex interplay of nonlinear processes. Membranes of a dielectric elastomer are prepared in various states of prestretches by using rigid clamps and mechanical forces. Upon actuation by voltage, some membranes form wrinkles followed by snap-through instability, others form wrinkles without the snap-through instability, and still others fail by local instability without forming wrinkles. Membranes surviving these nonlinear processes are found to attain a constant dielectric strength, independent of the state of prestretches. Giant voltage-induced stretch of 3.6 is attained.