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

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 degrees. 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. (C) 2019 Elsevier B.V. All rights reserved.