Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Soft robots are increasingly used in rehabilitation, manipulation, and locomotion.
• Soft bending actuators, often rubber-based, exhibit highly nonlinear and hyperelastic behavior.
• Modeling continuous deformation in soft actuators under external forces presents significant challenges.

Purpose of the Study:

• To develop a robust analytical static model for soft bending actuators.
• To establish a nonlinear relationship between actuator shape and actuation pressure.
• To investigate the influence of external forces on actuator configuration.

Main Methods:

• An analytical static model based on the Neo-Hookean material model was developed.
• The Euler-Bernoulli beam theory was employed to analyze external force effects.
• Experimental validation was performed on actuator behavior under free motion and external loads.

Main Results:

• A nonlinear relationship between actuator shape and inlet pressure was successfully extracted.
• The model accurately predicted actuator behavior in free motion.
• The influence of following and fixed direction external forces on actuator configuration was analyzed.

Conclusions:

• The proposed analytical static model effectively describes the mechanical behavior of soft bending actuators.
• The model provides a valuable framework for designing and controlling soft robotic systems.
• Experimental validation confirms the model's accuracy in predicting actuator response to pressure and external forces.