Fabrication of dielectric elastomer actuator (DEA) using additive manufacturing techniques can provide an alternative solution for current manufacturing processes of DEAs that are generally inconsistent and time consuming. In addition, additive manufacturing can allow DEAs with complex geometric configurations to be realized. This study investigates analytical approaches to optimize the performance of helical dielectric elastomer actuator (HDEA) based on additive manufacturing technologies. Optimized geometric configurations tailored to additive manufacturing and proper material selection for elastomer and electrode can improve the overall performance of HDEA. Due to the absence of pre-stretch in the elastomer membranes with additive manufacturing, associated drawbacks, such as electromechanical instability, high external voltage requirement, and their alternate solutions are analyzed and discussed. The performance of HDEA are evaluated by displacement, block force, and weight-to-force ratio by varying multiple geometric parameters including membrane thickness, pitch angle, inner-toouter electrode ratio, and actuation voltage. Since the selection of materials is as important as the geometric parameters of the actuator, printable elastomer and electrode materials with dielectric and mechanical properties for HDEA are evaluated. By optimizing geometric parameters and selecting appropriate materials based on its properties, appropriate manufacturing techniques are discussed to print both dielectric elastomer and electrode layers.