In this study so-called shell-like actuators based on soft dielectric EAP were developed, which can actively execute out-of-plane deformations and thus take specific shapes. The actuators consist of an array of identical active segments, where the dielectric films are arranged in pairs and thus pre-strain each other via a hinged core structure in an agonist-antagonist configuration.
Based on a hyperelastic model for the dielectric film the mechanical design of the active segment was optimized for achieving maximum free deformations and blocking loads under activation.
Taking into account these design criteria shell-like actuators consisting of several interconnected active segments were realized, which can accomplish uniaxial or biaxial bending deformations. Finally, the actuators were experimentally characterized in terms of their free deformation potential.