Modeling and Analysis of a Composite Structure-Based Soft Pneumatic Actuators for Soft-Robotic Gripper

Soft pneumatic actuators are extensively used in soft robots, and their bending angles and kinematic rules at different pressures play a crucial role in practical applications. This investigation aims to model the bending angle and motion of a new type of soft pneumatic actuator that adopts a composite structure consisting of two kinds of pneumatic networks. Based on the structural and deformation characteristics of the proposed soft actuator, the constitutive model is established, and then the moment equilibrium and virtual work principle are combined to model the bending angle of two pneumatic modules. The kinematic model of the proposed soft actuator is co-opted from the kinematic modeling of rigid robots. By employing the piecewise constant curvature method and coordinate transformation, the location of any chamber of the soft actuator can be calculated. The effectiveness of the developed analytical models is then tested, and the calculated results show good agreement with the experimental results. Finally, three soft actuators are used to constitute a soft gripper, and the pinching and enveloping grasping performance are examined. All experimental test results demonstrate that the developed bending angle and kinematic models can explain the bending principle of the proposed soft actuators well.