Development of a Stick-Slip Dielectric Elastomer Actuator for Robotic Applications
Chen Yu, Hongzhi Xu, Zhi Li, Xiuyu Zhang, Jinjun Shan
Abstract
Dielectric elastomer actuators (DEAs) face a performance tradeoff between achieving large displacements and high driving speeds, which limits their use in precision actuation scenarios requiring both rapid response and a wide motion range. To address these limitations, this study introduces a novel stick-slip actuation strategy that leverages the unique deformation properties of dielectric elastomers (DEs) combined with friction interface dynamics. Based on this principle, a stick-slip dielectric elastomer actuator (SSDEA) was developed, consisting of a DEA module with two fan-shaped electrode regions, a spherical rotor, and a 3D-printed framework. The structural design simplifies assembly by eliminating the need for complex techniques while ensuring operational stability. This design enables continuous multi-degree-of-freedom (multi-DOF) rotational motion without traditional transmission mechanisms. A dynamic model is established to analyze the actuator's behavior, and experimental validation confirms that the stick-slip strategy enhances both motion speed and resolution compared to conventional DEA systems. Its integration into a robotic facial model for simulating eyeball movements demonstrates its potential for compact, high-performance actuation in humanoid robotics.
BibTeX
@inproceedings{ral2025_developmentofast,
title = {Development of a Stick-Slip Dielectric Elastomer Actuator for Robotic Applications},
author = {Chen Yu and Hongzhi Xu and Zhi Li and Xiuyu Zhang and Jinjun Shan},
booktitle = {RA-L 2025},
year = {2025}
}