Dielectric elastomer actuators (DEAs) have shown great potential in the field of robotics, energy harvesting, or haptics for wearables. However, existing DEA materials typically require prestretching and exhibit time-dependent deformations due to their inherent viscoelastic properties. In this work, we address these issues by designing and synthesizing a polyurethane acrylate (PUA) DEA copolymerized with a polar crosslinker, polyethylene glycol diacrylate (PEGDA), to reduce viscoelastic effects through chemical crosslinking. We realized a buckling-mode actuator that displays out-of-plane deformations triggered by an electric field without the need for prestretching. Copolymerization with PEGDA showed improved dynamic response actuation performances compared to pristine PUA, wherein the former reached 90% of its maximum actuation in <1 s. In addition, precise and stable actuation was achieved, reducing viscoelastic drifts to a negligible amount. Despite the higher elastic modulus of the DEA incurred by the chemical crosslinks, the polar groups present in the PEGDA comonomer effectively increased the dielectric constant. As such, a higher area strain was achieved in comparison to that exhibited by low viscoelastic elastomers such as silicone. By eliminating the need for prestretching, rigid components can be avoided, thereby enabling greater prospects for the integration of fast response and stable DEAs into soft bodies.

介电弹性体致动器（DEA）在机器人技术，能量收集或可穿戴设备的触觉领域已显示出巨大的潜力。但是，现有的DEA材料由于其固有的粘弹性，通常需要进行预拉伸并表现出随时间变化的变形。在这项工作中，我们通过设计和合成与极性交联剂聚乙二醇二丙烯酸酯（PEGDA）共聚的聚氨酯丙烯酸酯（PUA）DEA来解决这些问题，以减少通过化学交联产生的粘弹性效应。我们实现了一种屈曲模式致动器，该致动器可以显示由电场触发的面外变形，而无需进行预拉伸。与原始PUA相比，与PEGDA的共聚显示出改进的动态响应驱动性能，其中前者在<1 s内达到其最大驱动的90％。此外，实现了精确而稳定的驱动，从而将粘弹性漂移减小到可以忽略的程度。尽管化学交联导致DEA的弹性模量更高，但PEGDA共聚单体中存在的极性基团有效地提高了介电常数。这样，与低粘弹性弹性体例如硅酮相比，显示出更高的面积应变。通过消除对预拉伸的需求，可以避免使用刚性组件，从而为将快速响应和稳定的DEA集成到软体中提供了更大的前景。PEGDA共聚单体中存在的极性基团有效地提高了介电常数。这样，与低粘弹性弹性体例如硅酮相比，显示出更高的面积应变。通过消除对预拉伸的需求，可以避免使用刚性组件，从而为将快速响应和稳定的DEA集成到软体中提供了更大的前景。PEGDA共聚单体中存在的极性基团有效地提高了介电常数。这样，与低粘弹性弹性体例如硅酮相比，显示出更高的面积应变。通过消除对预拉伸的需求，可以避免使用刚性组件，从而为将快速响应和稳定的DEA集成到软体中提供了更大的前景。