Designing Fiber-Reinforced Soft Actuators for Planar Curvilinear Shape Matching

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Fiber-reinforced soft pneumatic actuators are widely used in soft robotics due to their versatile deformation capabilities.
• Designing actuators to achieve precise, predetermined shapes is crucial for advancing soft robot functionality.

Purpose of the Study:

• To present a novel two-step methodology for designing soft pneumatic actuators that can accurately match a given planar curve upon pressurization.
• To extend this methodology for actuators that deform through a specified intermediate curve to a final target curve.

Main Methods:

• The methodology involves approximating the target planar curve using a series of constant curvature (CC) segments.
• Bending actuator design is achieved by determining optimal fiber orientations for each CC segment.
• The method is extended to control deformation along an intermediate curve before reaching the final shape.

Main Results:

• The developed method enables the design of actuators that deform from a straight, unpressurized state to a desired planar curve.
• Actuators can be designed to follow a predefined intermediate curve at lower pressures before achieving the final target shape.
• Demonstrated examples include an omega curve for an inchworm robot and an acronym for a journal.

Conclusions:

• The presented two-step methodology offers a systematic approach to designing soft pneumatic actuators for precise shape control.
• This method facilitates the creation of complex deformations required for advanced soft robotic applications.
• The ability to control intermediate shapes expands the design space for multi-stage actuation in soft robots.