LAUSR

This paper presents a novel dielectric elastomer actuator (DEA) with three stable states. By introducing magnetic forces and coupling them with two cone dielectric elastomer (DE) films, an inherent tristability for the DEA is obtained with a compact design. It is easy to switch between the three stable states by controlling the voltages applied to the DE films. A theoretical model of the system's potential energy that contains the free energy of the DEs and the potential energy of the applied magnetic field was developed for the tristable mechanism. The experimental results demonstrate that controllable transitions between the three stable states can be achieved with this design by applying over-critical voltages to the various DE films. The maximum dynamic range of the DEA can exceed 53.8% of the total length of the device and the DE's creep speed was accelerated under the action of the magnetic field.