Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

Soft robots are utilized in various operations such as rehabilitation, manipulation, and locomotion. These robots are sometimes excited by means of rubber based bending actuators, which are highly nonlinear and hyperelastic. In addition, in contrast to robots with rigid links and common actuators, continuous deformation of soft bending actuators in the presence of external forces makes the modeling more complicated. Thus, introducing a proper mathematical framework that accurately describes mechanical behavior of these actuators is still a challenge. In this research study, an analytical static model based on the Neo-Hookean material model is proposed. By resorting to the proposed model, a nonlinear relation between the actuator shape and inlet actuation pressure is extracted. Next, by means of the Euler-Bernoulli beam theory, the effect of external forces on the actuator configuration is investigated. Finally, experimental results are presented to validate the proposed theoretical model. In this regard, first, the actuator nonlinear behavior in a free motion is appropriately verified. Then, the actuator configuration, in the presence of two conventional external forces, called following and fixed direction, is analyzed.