Fabrication and modeling of dielectric elastomer soft actuator with 3D printed thermoplastic frame.

(a) Schematic of a bending DEMES actuator (b) Exploded view of the DEMES actuator and different constituent material layers (c) Fabrication procedures of the soft gripper (d) Printing elastic frame on the membrane based on fused deposition modeling (e) A DEMES soft gripper on its bending state with no voltage applied. • A method facilitates the integration of complex soft structures on the DE membrane without any adhesive. • The optimal finger-like soft DE actuator can generate large actuation with the bending angle about 128°. • FEM simulation results provide an adequately match with experimental data in terms of bending angle and blocked force. In this paper, we develop the novel approach to design and fabricate dielectric elastomer (DE) actuator integrating with 3D printed flexible structures, demonstrating large deformation and multi-functionalities. This technique facilitates the combination of complex soft structures fused on the DE membrane without any extra adhesive. Based on the DE actuator, a soft gripper has been fabricated and characterized in terms of bending angle and blocked force. Finite element method (FEM) simulations precisely predict the electromechanical behaviors, guiding the design of the soft actuator. With optimal design, the finger-like soft actuator can generate large actuation with the bending angle about of 128 °. This study can guide the fabrication and modeling of highly designable and customized DE actuators, which are promising in the applications of soft robotics, flexible electronics, and medical devices. [ABSTRACT FROM AUTHOR]