This study examines how two key design parameters—the pre-stretch ratio and the thickness of the carbon nanotube (CNT) electrode—affect the actuation performance of dielectric elastomer actuators (DEAs). DEA samples are created with varying pre-stretch levels (50% and 125%) and different amounts of CNT spray coating (4 and 8 mg), and their threshold voltages and areal strains are quantitatively assessed. The experimental results indicate that higher pre-stretch ratios result in lower threshold voltages and greater areal deformations, while increased CNT thickness typically reduces actuator deformation due to enhanced mechanical stiffness. The combination of a high pre-stretch ratio and low CNT loading demonstrates improved electro-mechanical responsiveness at moderate voltages. These findings underscore the interconnected effects of structural and electrode design on DEA performance, offering practical design guidelines for optimizing soft actuator systems. This research lays a solid foundation for future applications of DEAs in haptic interfaces, wearable actuators, and soft robotics.
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