On the Mechanical Power Output Comparisons of Cone Dielectric Elastomer Actuators

The emerging demand for bioinspired soft robotics requires novel soft actuators whose performance exceeds conventional rigid ones. Dielectric elastomer actuators (DEAs) are a promising soft actuation technology with large actuation strain and fast response. Cone DEAs are one of the most widely adopted DEA configurations for their compact structure and large force/stroke output with several configuration variations developed in recent years. By driving at a resonant frequency, the cone DEAs show a significant amplification in their power outputs, which demonstrates their suitability for highly dynamic robotic applications. However, it is still unclear how the payload conditions could affect the power outputs of cone DEAs and no work has compared the output performance of different variations of cone configurations. In this article, by considering conical configuration DEAs with generalized dissipative payloads, we conduct an extensive study on the effects of payload conditions on the power outputs of the cone DEA family. Additionally, we benchmark the performance of different cone DEA configurations and illustrate the fundamental principles behind these output patterns. The findings reported in this article establish guidelines for designing high-performance cone DEA actuators.

I. Introduction

Soft robotics is an emerging research field that seeks to develop biologically inspired soft or partially soft robots utilizing compliant materials instead of rigid components in conventional robots. Soft robots have the potential to be more robust, adaptable, and safer to interact with humans and environments [1]. The growing applications of soft robotics demand novel compliant actuation technologies beyond conventional rigid actuators. Dielectric elastomer actuators (DEAs) are promising soft actuators which possess the advantages of large actuation strains, inherent compliance, and programmable actuations [2].