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Active shell-like structures with a large deformation potential may be used to generate an interaction between the structure and its environment. Among the electroactive polymers (EAPs), soft dielectric EAPs in particular are promising for driving so-called shell-like actuators due to their huge active strain potential and intrinsic compliance. This thesis explores the potential of soft dielectric EAPs for the design of shell-like actuators with the ability of performing complex out-of-plane displacements. Initially, diverse concepts for the design of active shell structures driven by a soft dielectric EAPs are presented. Preliminary experiments were conducted for selected approaches in order to basically quantify their active deformation potential. These experiments showed that the so-called agonist-antagonist configuration, where DE films pre-strain each other via a jointed support structure, perform well. The design of this agonist-antagonist segment was optimized based on a hyperelastic model for the dielectric film to achieve maximum free deflections and blocking forces under activation. The modeling predictions were then verified experimentally for different setups of the DE actuators. Based on these results, a shell-like actuator composed of seven interlinked agonist-antagonist segments was implemented. A computer controlled supply system with only one amplifier was established for the individual supply of the agonist-antagonist segments with high DC voltages. During the experimental characterization, the shell-like actuator displayed free angles of deflection exceeding 90 degrees in both directions. Under phaseshifted sinusoidal activation of the segments, the actuator showed a propagation of transversal waves along its principal axis, which resembled the swimming motion of a fish.

Development of a shell-like electroactive polymer (EAP) actuator