A Robotic System for Automated Manufacturing of Dielectric Elastomer Actuators

Van Remenar; Anatol Gogoj; Ang Li; Tomas Verardi; Matei Mandoiu; Victor Jimenez Santiago; Mihai Duduta

A Robotic System for Automated Manufacturing of Dielectric Elastomer Actuators

Robotics 2026-08-01 v1 Systems and Control

Authors: Van Remenar , Anatol Gogoj , Ang Li , Tomas Verardi , Matei Mandoiu , Victor Jimenez Santiago , Mihai Duduta

Abstract

This letter presents an automated robotic manufacturing system for soft capacitors which operate as actuators and sensors. Emphasis is placed on the two processes that most directly govern device quality, dielectric layer formation by spin coating and carbon nanotube (CNT) electrode application by stamping. Twenty multilayer DEAs, each comprising 12 dielectric layers with a mean thickness of 55.37 +- 2.04 um and 11 alternating CNT electrodes, were fabricated reducing total process time by 14.2% and removing the operator from 56.1% of it.

Keywords

dielectric elastomer actuator soft capacitor robotic manufacturing spin coating carbon nanotube electrode

Cite

@article{arxiv.2608.00369,
  title  = {A Robotic System for Automated Manufacturing of Dielectric Elastomer Actuators},
  author = {Van Remenar and Anatol Gogoj and Ang Li and Tomas Verardi and Matei Mandoiu and Victor Jimenez Santiago and Mihai Duduta},
  journal= {arXiv preprint arXiv:2608.00369},
  year   = {2026}
}