Design Method of Minimum Energy Structural Dielectric Elastomer Actuators for Origami Robots

This paper provides a new driving method for origami robots based on dielectric elastomer minimum energy structure. We place minimum energy structural dielectric elastomer actuators (MESDEAs) at the creases to directly drive the origami robot joint. When realizing the folding of the joint, the equilibrium deformation angle and the maximum output moment of MESDEAs are two important indicators. Therefore, this paper provides a design method of the MESDEA with the rectangular hollow area for these two indicators, and verifies this method. Then the electromechanical response of the designed MESDEA is preliminarily explored. Finally, the drive of the origami robot joint is realized based on MESDEAs, which lays the foundation for the subsequent motion control of the joint.