A comparison of the electromechanical characteristics of dielectric elastomer minimum energy structures (DEMES) and planar dielectric elastomer actuators (p-DEAs)

Dielectric elastomer actuators are considered as promising candidates for robotic elements. To this end, planar dielectric elastomer actuators (p-DEAs) and dielectric elastomer minimum energy structures (DEMES) are applicable. However, the knowledge of their electrical and mechanical characteristics is of major importance for engineering tasks. Therefore we study p-DEAs and DEMES by impedance spectroscopy (IS) and dynamic capacitive extensometry (DCE). We vary the boundary conditions with regard to p-DEAs (free and fixed boundaries) and fabricate various DEMES with one angular degree of freedom. A mixture of carbon black particles and silicone oil serves as compliant electrodes. We present equivalent circuit models of the actuators based on impedance spectroscopy data, the frequency ranges in which they are applicable and effects of aging on the equivalent circuit models. By DCE the electrical characteristics of dielectric elastomer actuators are monitored in situ during dynamic high voltage actuation. These electrical characteristics of the dielectric elastomer actuators such as p-DEAs and DEMES can be related to their transient stretch in response to high voltage driving signals. We study the viscoelastic response of the actuators to square driving signals of different magnitudes; furthermore we monitor the state of the compliant electrodes. By means of the DCE measurement data and the impedance spectra the p-DEAs and DEMES can be compared.