A novel mathematical procedure is presented, which makes it possible to optimize lozenge-shaped dielectric-elastomer-based linear actuators for known materials and desired force/stroke requirements. Simulation and experimental results are provided which both demonstrate the efficacy of the proposed optimization procedure with respect to traditional design approaches and show that simpler, cheaper, lighter, and better-behaved lozenge-shaped actuators can be conceived, which do not require any integration of compliant frame elements.
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