Rolling dielectric elastomer actuator with bulged cylindrical shape

This note presents preliminary investigations on the design and development of a rolling dielectric elastomer actuator (rDEA) with a bulged cylindrical shape. The actuator is based on an inflated silicone-based hollow cylinder consisting of a series of dielectric elastomer actuator sectors. The electrical activation of the sectors changes the shape of the rDEA; the induced geometrical change causes a variation of the position of the rDEA's centre of gravity and a consequent initiation of rolling of the rDEA. This paper presents a simplified parametric analytical model which is used to simulate the quasi-static behaviour of the rDEA. A testing procedure is used to assess the potential rolling performance of the rDEA prototypes.