On the influence of design parameters on the performance of the dielectric elastomer actuator with a permanent magnet.

The dielectric electroactive polymers gain a high interest as materials for the construction of actuators and sensors. Further, the requirements of practical use require high repeatability and also techniques to identify the inaccuracy of the devices. This study examines the problem of preparation, identification, and analysis of dielectric electroactive polymers with magnetorheological bias. The core innovation lies in utilizing passive magnetic fields to precondition and enhance the actuation response of the DEA without the need for active magnetic sources. A detailed investigation is conducted on how the MRE, when mechanically coupled to the DEA, influences its performance in terms of dynamic behavior. This novel type of actuator gives a response with high level amplitude in comparison to typical actuators. The main goal of this research is to analyze the parameters of the actuators and its correlation to varying conditions. We systematically analyze how variations in magnet position - both vertical and radial - affect actuator performance under electrical excitation. Four actuators were fabricated and tested using step and chirp voltage signals across different voltage levels and biasing configurations. Key dynamic parameters such as displacement amplitude, frequency response, and model gains were extracted using system identification methods. Statistical analysis and classification techniques reveal that selected parameter combinations, such as displacement amplitude and static gain, enable effective differentiation of actuator responses under varying conditions. These findings provide new insights into the design and tunability of DEA-MRE actuators for applications in soft robotics and adaptive systems.