Asymmetry bistability for a coupled dielectric elastomer minimum energy structure

In this paper, a novel design of asymmetry bistability for a coupled dielectric elastomer minimum energy structure (DEMES) is presented. The structure can be stable both in the stretched and curved configurations, which are induced by the geometry coupling effect of two DEMESs with perpendicular bending axes. The unique asymmetry bistability and fully flexible compact design of the coupled DEMES can enrich the active morphing modes of the dielectric elastomer actuators. A theoretical model of the system's strain energy is established to explain the bistability. Furthermore, a prototype is fabricated to verify the conceptual design. The experimental results show that when the applied voltage is below a critical transition one, the structure behaves as a conventional DEMES, once the applied voltage exceeds the critical voltage, the structure could change from the stretched (curved) configuration to the curved (stretched) configuration abruptly and maintain in a new stable configuration when the voltage is removed. A multi-segment structure with the coupled DEMES is also presented and fabricated, and it displays various voltage-actuated morphings. It indicates that the coupled DEMES and the multi-segment structures can be useful for the soft and shape-shifting robots.