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Dielectric elastomer actuators (DEAs) are soft, electrically powered actuators that have no discrete moving parts, yet can exhibit large strains (10%–50%) and moderate stress (∼100 kPa). This Tutorial describes the physical basis underlying the operation of DEA's, starting with a simple linear analysis, followed by nonlinear Newtonian and energy approaches necessary to describe large strain characteristics of actuators. These lead to theoretical limits on actuation strains and useful non-dimensional parameters, such as the normalized electric breakdown field. The analyses guide the selection of elastomer materials and compliant electrodes for DEAs. As DEAs operate at high electric fields, this Tutorial describes some of the factors affecting the Weibull distribution of dielectric breakdown, geometrical effects, distinguishing between permanent and “soft” breakdown, as well as “self-clearing” and its relation to proof testing to increase device reliability. New evidence for molecular alignment under an electric field is also presented. In the discussion of compliant electrodes, the rationale for carbon nanotube (CNT) electrodes is presented based on their compliance and ability to maintain their percolative conductivity even when stretched. A procedure for making complaint CNT electrodes is included for those who wish to fabricate their own. Percolative electrodes inevitably give rise to only partial surface coverage and the consequences on actuator performance are introduced. Developments in actuator geometry, including recent 3D printing, are described. The physical basis of versatile and reconfigurable shape-changing actuators, together with their analysis, is presented and illustrated with examples. Finally, prospects for achieving even higher performance DEAs will be discussed.
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Confocal microscopy observations of electrical pre-breakdown of bi-layer elastomer dielectrics
At high electric fields, the electrical energy stored in a soft elastomer dielectric can be comparable to the mechanical deformation energy it produces. This has led to the development of a class of electrically controlled, large strain dielectric elastomer actuators for soft robotics and energy harvesting devices. At large electric fields, the electro-mechanically induced deformation can lead to pseudo-periodic surface morphological instabilities which then grow with increasing field into stable pre-breakdown defects prior to final, irreversible electrical breakdown. Under these extremes of combined large electrical and mechanical deformations, the morphological evolution of the prebreakdown defects has not hitherto been reported. In contrast to the filamentary breakdown of much stiffer dielectrics, fluorescence confocal microscopy reveals an array of defects that evolve through a complex, reversible series of morphologies, transitioning from axi-symmetric ‘‘pits’’ to ‘‘crack-like’’ shapes that can ‘‘twist’’ and deflect, and finally open to form an array of holes. The observations suggest that the transitions, from axi-symmetric pits to flat, slit-like defects and then to an array of holes, are geometric instabilities. The implications for using a soft elastomer layer to increase the dielectric breakdown of a stiffer dielectric are discussed.
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- Award ID(s):
- 2011754
- PAR ID:
- 10499883
- Publisher / Repository:
- Elsevier
- Date Published:
- Journal Name:
- Extreme Mechanics Letters
- Volume:
- 49
- Issue:
- C
- ISSN:
- 2352-4316
- Page Range / eLocation ID:
- 101473
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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- Free Publicly Accessible Full Text
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Accepted Manuscript1.0
- Journal Article:
- https://doi.org/10.1016/j.eml.2021.101473
