Dual-network acrylate elastomers, methods of making and using the same

Abstract

This invention relates to a dual-network acrylate dielectric elastomer, its preparation method, and its applications. The method involves initiating a polymerization reaction of an acrylate dielectric elastomer precursor solution under ultraviolet light to obtain a dual-network acrylate dielectric elastomer. The acrylate dielectric elastomer precursor solution comprises the following components in parts by weight: 35-45 parts of flexible acrylate monomer, 5-15 parts of functional acrylate monomer, 55-65 parts of long-chain acrylate crosslinking agent, 0.5-1.5 parts of short-chain acrylate crosslinking agent, and 0.1-0.5 parts of photoinitiator. Compared with existing technologies, this invention can achieve low-voltage driving and rapid response of the dielectric elastomer.

Description

Technical Field

[0001] This invention belongs to the field of dielectric elastomer materials technology, and relates to a dual-network acrylate dielectric elastomer, its preparation method and application. Background Technology

[0002] Soft robotics is an emerging branch of robotics, demonstrating broad application prospects in minimally invasive surgery, environmental monitoring, search and rescue, and human-computer interaction due to its high flexibility, biocompatibility, and environmental adaptability. Artificial muscles are the core driving components of soft robots, capable of deforming in response to external stimuli (such as heat, light, electricity, magnetism, pressure, and chemical energy) to generate the required motion force or torque.

[0003] Dielectric elastomers (DEs), as one type of electroactive polymer, stand out among many artificial muscle materials due to their advantages such as large deformation, high energy density, fast reaction speed, and low cost. Their working principle is that when a dielectric elastomer with flexible electrodes coated on its surface is placed in an electric field, a strong electrostatic interaction is generated on the surfaces of the upper and lower electrodes. The resulting Maxwell force causes significant deformation of the dielectric elastomer. The area strain (S) of the elastomer... z The formula S can be used. z =-ε0ε r E 2 / Y is used to describe this, where ε0 is the permittivity of vacuum, and ε r Y is the relative permittivity of the dielectric elastomer, Y is the Young's modulus of the dielectric elastomer, and E is the applied electric field.

[0004] Currently, various commercial elastomer materials, such as silicone rubber, polyurethane, and acrylate elastomers, have been widely used in dielectric elastomer actuators. Compared with other types of dielectric elastomer materials, acrylate dielectric elastomers exhibit excellent economic benefits due to their lightweight and low cost. Furthermore, acrylate dielectric elastomers perform better in terms of actuation capability and energy density, and can more effectively simulate the movement of biological muscles, thus attracting widespread research and attention. However, acrylate dielectric elastomers, represented by commercially available VHB4910, require a high driving electric field to provide energy for their actuation due to their high stiffness and low dielectric constant. Moreover, these dielectric elastomer materials exhibit significant viscoelastic properties, often resulting in a series of problems such as high energy loss, long response time, and poor high-frequency response.

[0005] Researchers have devoted significant effort to developing acrylate-based dielectric elastomers with higher performance. The best way to increase the areal strain of dielectric elastomers is to reduce the elastic modulus or increase the dielectric constant. Traditional strategies often focus on improving a specific property, but this may lead to a decline in other properties. Therefore, developing dielectric elastomers with superior overall performance, exhibiting large strain, high energy density, and low loss at low fields, remains a challenging task.

[0006] Patent CN118930753A discloses a method for preparing a broadband fast-response acrylate dielectric elastomer, its products, and applications, including the following steps: mixing an acrylate crosslinking agent, an acrylate flexible monomer, an acrylate functional monomer, and a photoinitiator uniformly to form an acrylate dielectric elastomer precursor solution; vacuum-removing the air bubbles from the acrylate dielectric elastomer precursor solution and injecting it into a grooved dielectric elastomer mold; and obtaining the acrylate dielectric elastomer after UV curing. However, the dielectric elastomer driving voltage proposed in this patent is too high, which is detrimental to the safety and stability of the driving equipment.

[0007] Patent CN114181417A discloses a thermosetting dielectric elastomer film and its dielectric actuator. The preparation method includes the following steps: blending acrylate monomers, olefin functional monomers with at least one inactive carbon-carbon double bond, an initiator, and a selectively added crosslinking agent, and performing bulk free radical copolymerization to obtain a thermosetting film; using an organic solvent immersion swelling method, simultaneously and uniformly compounding a multi-thiol crosslinking agent and a photoinitiator into the thermosetting film, followed by vacuum drying to obtain a thermosetting dielectric elastomer film that can be further crosslinked by ultraviolet light; the crosslinking agent refers to a monomer molecule with two or more molecules capable of free radical polymerization. The terminal active carbon-carbon double bonds include one or more of 1,3-butadiene, triethylene glycol dimethacrylate, myrcene, 1,4-butanediol diacrylate, 1,6-hexanediol diacrylate, and trimethylolpropane triacrylate; the multi-thiol-containing crosslinking agent is selected from one or more of 1,3-propanedithiol, 1,6-hexanedithiol, 1,8-octanedithiol, 1,10-decanedithiol, 3,6-dioxa-1,8-octanedithiol, 1,4-butanediol di(mercaptoacetate), pentaerythritol tetramercaptoacetate, di(2-mercaptoethyl)adipate, 1,4-butanedithiol, and 1,2-butanedithiol. However, the dielectric elastomer proposed in this patent has a relatively small area strain, resulting in a limited range of motion for the actuator and insufficient driving capability.

[0008] Patent CN115160233A discloses an adaptively deformable elastomeric electrolyte, electrode, and battery. The preparation method involves mixing an unsaturated ester monomer, a bifunctional ionic liquid, an alkali metal salt, an initiator, and a crosslinking agent. The resulting precursor solution is cured under ultraviolet light irradiation, and the film is dried in a vacuum oven to obtain the adaptively deformable elastomeric electrolyte. However, the elastomer preparation method proposed in this patent is complex and not conducive to large-scale production. Summary of the Invention

[0009] The purpose of this invention is to overcome at least one of the defects of the prior art, such as high driving electric field, stress relaxation, and deformation hysteresis, and to provide a dual-network acrylate dielectric elastomer, its preparation method, and its application. This invention can achieve low-voltage driving and fast response of the dielectric elastomer.

[0010] The objective of this invention can be achieved through the following technical solutions:

[0011] One of the technical solutions of this invention is to provide a dual-network acrylate dielectric elastomer, wherein a polymer reaction is initiated by irradiating an acrylate dielectric elastomer precursor solution with ultraviolet (UV) light to obtain a dual-network acrylate dielectric elastomer, wherein the acrylate dielectric elastomer precursor solution comprises the following components in parts by weight:

[0012] 35–45 parts of flexible acrylate monomer, 5–15 parts of functional acrylate monomer, 55–65 parts of long-chain acrylate crosslinking agent, 0.5–1.5 parts of short-chain acrylate crosslinking agent, and 0.1–0.5 parts of photoinitiator.

[0013] Furthermore, the acrylate flexible monomer is selected from one or more of ethyl acrylate, propyl acrylate, butyl acrylate, pentyl acrylate, hexyl acrylate, and heptyl acrylate.

[0014] Furthermore, the acrylate functional monomer is selected from one or more of hydroxyethyl acrylate, hydroxypropyl methacrylate, hydroxypropyl acrylate, 4-hydroxybutyl acrylate, isobornyl acrylate, and acrylic acid.

[0015] Furthermore, the long-chain acrylate crosslinking agent is selected from one or more of polyester acrylate oligomers, polyether acrylate oligomers, and polyurethane acrylate oligomers.

[0016] As a preferred technical solution, the long-chain acrylate crosslinking agent has an average molecular weight of 10. 4 ~10 5 The magnitude.

[0017] Furthermore, the short-chain acrylate crosslinking agent is selected from one or more of polyethylene glycol diacrylate, tripropylene glycol diacrylate, neopentyl glycol diacrylate, propoxylated neopentyl glycol diacrylate, 1,4-butanediol diacrylate, and 1,6-hexanediol diacrylate.

[0018] As a preferred technical solution, the average molecular weight of the polyethylene glycol diacrylate is 400-2000.

[0019] Furthermore, the photoinitiator is selected from one or more of benzoyl, 2-hydroxy-2-methyl-1-phenyl-1-propanone, benzophenone, 1-hydroxy-cyclohexylbenzophenone, and 2,2-dimethoxy-phenylacetophenone.

[0020] One of the technical solutions of the present invention is to provide a method for preparing the aforementioned dual-network acrylate dielectric elastomer, the method comprising the following steps:

[0021] S1. Mix the acrylate flexible monomer, acrylate functional monomer, long-chain acrylate crosslinking agent, short-chain acrylate crosslinking agent and photoinitiator evenly to obtain an acrylate dielectric elastomer precursor solution.

[0022] S2. Vacuum the acrylic dielectric elastomer precursor solution to remove air bubbles; inject the acrylic dielectric elastomer precursor solution into the mold using a solution casting method.

[0023] S3. The acrylic dielectric elastomer precursor solution is irradiated with ultraviolet light to initiate a polymerization reaction, thereby obtaining a dual-network acrylic dielectric elastomer.

[0024] S4. Vacuum dry the double-networked acrylate dielectric elastomer to remove unreacted monomers.

[0025] As a preferred technical solution, the mixing temperature in step S1 is 15-40℃, the stirring rate is 500-1000 r / min, and the time is 6-24 h.

[0026] Furthermore, in step S2, the vacuum level is 80–150 kPa, and the time is 10–30 min;

[0027] The UV curing power of the polymerization reaction in step S3 is 500–1000 W·cm. -1 The ultraviolet light wavelength is 300–420 nm, and the time is 1–10 min.

[0028] As a preferred technical solution, the temperature of vacuuming and polymerization reaction in steps S2 and S3 is 15-40℃.

[0029] Furthermore, in step S4, the vacuum drying temperature is 40–70°C, the vacuum degree is 80–150 kPa, and the time is 12–48 h.

[0030] One of the technical solutions of the present invention is to provide an application of the aforementioned dual-network acrylate dielectric elastomer in a soft robot actuator.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] (1) The present invention constructs a double cross-linked network structure by using two cross-linking agents of different lengths, so that the material simultaneously exhibits low Young's modulus, large elongation at break and significant strain hardening behavior.

[0033] (2) This invention introduces multiple hydrogen bonding by adding acrylate functional monomers to achieve multiple chain segment interaction, thereby achieving a faster dynamic response speed and solving the problems of energy loss, stress relaxation and deformation hysteresis caused by the inherent viscoelasticity of traditional acrylate dielectric elastomer materials.

[0034] (3) The dual-network dielectric elastomer prepared by the present invention can achieve large actuation strain under low electric field under the structural design of polymer molecules formed by the combination of the above factors, and has ultra-high energy density. The preparation method is simple to operate and easy to prepare on a large scale. It is a powerful candidate material for artificial muscles and is suitable for soft robots in various scenarios. It is of great significance for the preparation of high-performance soft robots. Attached Figure Description

[0035] Figure 1 The tensile curves of the acrylate dielectric elastomers in the embodiments and comparative examples of the present invention are shown.

[0036] Figure 2 The static area strain diagrams of the acrylate dielectric elastomers in the embodiments and comparative examples of the present invention are shown.

[0037] Figure 3 This is a dynamic cyclic area strain diagram of the dual-network acrylate dielectric elastomer in Example 2 of the present invention;

[0038] Figure 4 The time-dependent area strain diagrams of the acrylate dielectric elastomers in Embodiment 2 and the comparative example of the present invention are shown.

[0039] Figure 5 The frequency-dependent area strain diagrams of the acrylate dielectric elastomers in Embodiment 2 and the comparative example of the present invention are shown.

[0040] Figure 6 This is an energy density diagram of the acrylate dielectric elastomer in Example 2 and the comparative example of the present invention. Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0042] Unless otherwise specified, the equipment used in the following embodiments is conventional equipment in the art; unless otherwise specified, the reagents used are commercially available products or prepared by conventional methods in the art. In the following embodiments, unless otherwise described in detail, conventional experimental methods in the art can be used.

[0043] Example 1:

[0044] A dual-network acrylate dielectric elastomer and its preparation method are described below:

[0045] S1. Butyl acrylate, hydroxyethyl acrylate, Sartoma's polyurethane acrylate oligomer CN9021 with an average molecular weight of 28,000, polyethylene glycol diacrylate with an average molecular weight of 1,000, and 2-hydroxy-2-methyl-1-phenyl-1-propanone were weighed and mixed in proportion, and stirred overnight at a stirring rate of 800 r / min at room temperature to obtain a homogeneous acrylate dielectric elastomer precursor solution.

[0046] S2. The acrylate dielectric elastomer precursor solution is evacuated at a vacuum of 100 kPa for 15 minutes at room temperature to remove air bubbles. To ensure an oxygen-free environment during the photocuring process, the acrylate dielectric elastomer precursor solution is slowly injected into a special container using a solution casting method. The special container consists of two transparent glass panels and a polytetrafluoroethylene frame sandwiched in between. The space between the polytetrafluoroethylene frame and the two transparent glass panels is used to contain the acrylate dielectric elastomer precursor solution. This special container can effectively isolate air and ensure the smooth progress of the curing process.

[0047] S3. The acrylate dielectric elastomer precursor solution was subjected to a process at room temperature and a power of 678 W·cm. -1 The polymerization reaction was initiated under ultraviolet light with a wavelength of 365 nm for 5 minutes.

[0048] S4. After polymerization, the obtained double-network acrylate dielectric elastomer film is placed in a vacuum oven at 50°C and 100 kPa for 24 hours to remove unreacted monomers.

[0049] The composition of the acrylate dielectric elastomer precursor solution in this embodiment is shown in Table 1.

[0050] Table 1. Composition of the acrylate dielectric elastomer precursor solution in Example 1

[0051]

[0052] Example 2:

[0053] A dual-network acrylate dielectric elastomer and its preparation method are basically the same as those in Example 1, except that the short-chain acrylate crosslinking agent polyethylene glycol diacrylate is replaced with polyethylene glycol diacrylate. The composition of the acrylate dielectric elastomer precursor solution in this example is shown in Table 2.

[0054] Table 2. Composition of the acrylate dielectric elastomer precursor solution in Example 2

[0055]

[0056] Example 3:

[0057] A dual-network acrylate dielectric elastomer and its preparation method are basically the same as those in Example 1, except that the short-chain acrylate crosslinking agent polyethylene glycol diacrylate is replaced with neopentyl glycol diacrylate. The composition of the acrylate dielectric elastomer precursor solution in this example is shown in Table 3.

[0058] Table 3. Composition of the acrylate dielectric elastomer precursor solution in Example 3

[0059]

[0060] Comparative example:

[0061] An acrylate dielectric elastomer, using 3M's commercially available acrylate dielectric elastomer VHB4910.

[0062] The above-mentioned acrylate dielectric elastomer was subjected to the following tests or experiments, and then the test or experiment results were analyzed.

[0063] Experimental Example 1:

[0064] The mechanical properties of the above-mentioned acrylate dielectric elastomer were tested using a computer-controlled electronic universal testing machine at room temperature. The specific steps are as follows:

[0065] The acrylic dielectric elastomer film samples were fixed at a thickness of 1 mm and cut into standard dumbbell shapes to facilitate stress application and deformation measurement.

[0066] During the test, the film was stretched at a constant stretching rate of 100 mm / min until the film broke.

[0067] Based on the stress-strain curve obtained from the test, the ratio of stress to strain at 5% strain is defined as the Young's modulus of the thin film.

[0068] like Figure 1 As shown, it can be seen that Examples 1 to 3 all have lower Young's modulus compared to the comparative examples; at the same time, due to the appropriate selection of short-chain acrylate crosslinking agents, Example 2 also exhibits low Young's modulus, large elongation at break and significant strain hardening behavior, making it an ideal material for dielectric elastomers.

[0069] Experimental Example 2:

[0070] Static actuation testing of the above-mentioned acrylate dielectric elastomer was performed using a circular thin-film actuator. The specific steps are as follows:

[0071] After the acrylate dielectric elastomer film sample was pre-stretched equiaxed by 200%, it was fixed on a polyethylene terephthalate (PET) ring frame. Similarly, carbon grease with a diameter of 1 cm was coated on both sides of the film as flexible electrodes. It was applied to a soft robot actuator, and the area coated with flexible electrodes was connected to the AMR10R20 high voltage power supply with silver-plated copper wires.

[0072] During the driving process, the area of ​​the electroactive part increases and the thickness decreases. The driving process is recorded by a camera. The high voltage power supply gradually increases from 0V until the driver breaks down electrically.

[0073] The area strain was then analyzed using the software IMAGEJ. The area strain was calculated by the change in area before and after the actuation. The final area strain was obtained by the formula S=(a1-a0) / a0×100%, where a1 is the actuation area of ​​the thin film when the electric field is applied, and a0 is the initial area of ​​the thin film when no electric field is applied.

[0074] like Figure 2 As shown, Example 1 can be achieved at 45V·μm -1 Under an electric field, a static electric area strain of 107% can be achieved. Example 2 can achieve this at 60 V·μm. -1 Under an electric field, a static electric area strain of 200% can be achieved. In Example 3, this can be achieved at 77 V·μm. -1 Under the electric field, the static electric area strain reaches 118%, while the comparative example is at 60 V·μm. -1 Under the electric field, the static electric area strain is only 26%, and the driving capability of Example 2 is about 7.6 times that of the comparative example.

[0075] Experimental Example 3:

[0076] The above-mentioned acrylate dielectric elastomer was subjected to dynamic driving tests, which included cyclic testing, time response testing, and frequency response testing. The specific steps are as follows:

[0077] During cyclic testing, the electric field applied to the acrylate dielectric elastomer film sample was fixed at 45 V·μm.-1 The frequency was maintained at 1 Hz, and a total of 10,000 drives were performed to analyze the cycling characteristics of the thin film and focus on the deformation stability of the thin film.

[0078] In the time response test, the electric field applied to the thin film was fixed at 45 V·μm. -1 The film was continuously driven for 600 seconds to analyze its time response characteristics and focus on its deformation rate.

[0079] In the frequency response test, the voltage applied to the thin film was fixed at 45 V·μm. -1 The frequency was gradually increased from 1 Hz to 100 Hz to analyze the frequency response characteristics of the thin film and to focus on the deformation stability of the thin film.

[0080] like Figure 3 As shown, Example 2 can be stably driven for 10,000 cycles at a frequency of 1Hz under 100% area strain. This indicates that Example 2 has excellent durability and stability, and can maintain high performance during long-term operation. It is suitable for application scenarios with high requirements for reliability and cycle life.

[0081] like Figure 4 As shown, Example 2 can reach 90% of the final strain in just 4 seconds, which is significantly better than the comparative example, which takes at least 200 seconds to reach 90% of the final strain.

[0082] like Figure 5 As shown, it can be seen that when the driving frequency gradually increases from 1Hz to 100Hz, the energy loss of the comparative example increases significantly under high-frequency conditions, and the area strain drops rapidly to 37% of the maximum area strain. However, Example 2 shows a better dynamic response capability and can still maintain a higher strain level of 69% at 100Hz.

[0083] Experimental Example 4:

[0084] The energy density of the above-mentioned acrylate dielectric elastomer was tested, and the specific steps are as follows:

[0085] After pre-stretching the acrylate dielectric elastomer film sample by 200%, polyethylene terephthalate was adhered to the top and bottom edges of the film to constrain the active film. The energy density was then tested by suspending weights at the bottom of the film.

[0086] Under a load of 200g, the voltage was gradually increased from 0V, and the uniaxial area strain during the film shrinkage process was recorded by a camera.

[0087] Based on the increase in load potential energy during contraction, from the formula E = m L gh / m aCalculate the energy density of the thin film under different electric fields, where m L For the mass of the load, m a Let h be the effective mass of the thin-film driven region, and h be the height change of the load.

[0088] like Figure 6 As shown, the energy density of acrylate dielectric elastomers increases with increasing driving electric field; when the driving electric field is 55 V·μm... -1 At that time, the energy density of Example 2 was 274 J·kg. -1 The energy density of the comparative example is only 80 J·kg⁻¹. -1 This indicates that Example 2 exhibits significantly better energy storage capacity under a high driving electric field, demonstrating the advantages of dual-network acrylate dielectric elastomers in improving energy density, and further proving the potential and value of dual-network acrylate dielectric elastomers in high-efficiency electric drive applications.

[0089] The superior driving performance of the dual-network acrylate dielectric elastomer in the embodiments is mainly attributed to the ingenious combination of the double-crosslinked network structure design and dynamic hydrogen bonds. This double-crosslinked network provides the elastomer with excellent electromechanical properties, enabling it to achieve ultra-large strain under low electric fields. Simultaneously, the presence of dynamic hydrogen bonds significantly improves the viscoelasticity of the elastomer, resulting in low energy loss and excellent dynamic responsiveness. This combined effect makes the dual-network acrylate dielectric elastomer stand out in driving performance and demonstrates broad prospects.

[0090] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A dual-network acrylate dielectric elastomer, characterized in that, An acrylate dielectric elastomer precursor solution is subjected to ultraviolet light irradiation to initiate a polymerization reaction, thereby obtaining a dual-network acrylate dielectric elastomer. The acrylate dielectric elastomer precursor solution comprises the following components in parts by weight: 35-45 parts of flexible acrylate monomer, 5-15 parts of functional acrylate monomer, 55-65 parts of long-chain acrylate crosslinking agent, 0.5-1.5 parts of short-chain acrylate crosslinking agent, and 0.1-0.5 parts of photoinitiator; The short-chain acrylate crosslinking agent is selected from one or more of polyethylene glycol diacrylate, tripropylene glycol diacrylate, neopentyl glycol diacrylate, propoxylated neopentyl glycol diacrylate, 1,4-butanediol diacrylate, and 1,6-hexanediol diacrylate. By using two crosslinking agents of different lengths to construct a double crosslinked network structure, the material simultaneously exhibits low Young's modulus, large elongation at break, and significant strain hardening behavior.

2. The dual-network acrylate dielectric elastomer according to claim 1, characterized in that, The acrylate flexible monomer is selected from one or more of ethyl acrylate, propyl acrylate, butyl acrylate, pentyl acrylate, hexyl acrylate, and heptyl acrylate.

3. The dual-network acrylate dielectric elastomer according to claim 1, characterized in that, The acrylate functional monomer is selected from one or more of hydroxyethyl acrylate, hydroxypropyl methacrylate, hydroxypropyl acrylate, 4-hydroxybutyl acrylate, isobornyl acrylate, and acrylic acid.

4. The dual-network acrylate dielectric elastomer according to claim 1, characterized in that, The long-chain acrylate crosslinking agent is selected from one or more of polyester acrylate oligomers, polyether acrylate oligomers, and polyurethane acrylate oligomers.

5. The dual-network acrylate dielectric elastomer according to claim 1, characterized in that, The photoinitiator is selected from one or more of benzoyl, 2-hydroxy-2-methyl-1-phenyl-1-propanone, benzophenone, 1-hydroxy-cyclohexylbenzophenone, and 2,2-dimethoxy-phenylacetophenone.

6. A method for preparing a dual-network acrylate dielectric elastomer as described in any one of claims 1 to 5, characterized in that, The method includes the following steps: S1. Mix acrylate flexible monomers, acrylate functional monomers, long-chain acrylate crosslinking agents, short-chain acrylate crosslinking agents and photoinitiators to obtain an acrylate dielectric elastomer precursor solution. S2. Vacuum the acrylic dielectric elastomer precursor solution; S3. The acrylic dielectric elastomer precursor solution is irradiated with ultraviolet light to initiate a polymerization reaction, thereby obtaining a dual-network acrylic dielectric elastomer. S4. Vacuum dry the double-networked acrylate dielectric elastomer.

7. The method for preparing a dual-network acrylate dielectric elastomer according to claim 6, characterized in that, In step S2, the vacuum level is 80~150 kPa and the time is 10~30 min; The UV curing power of the polymerization reaction in step S3 is 500~1000 W·cm. -1 The ultraviolet light wavelength is 300~420 nm, and the time is 1~10 min.

8. The method for preparing a dual-network acrylate dielectric elastomer according to claim 6, characterized in that, In step S4, the vacuum drying temperature is 40~70 ℃, the vacuum degree is 80~150 kPa, and the time is 12~48 h.

9. The application of a dual-network acrylate dielectric elastomer as described in any one of claims 1 to 5 in a soft robot actuator.

Images