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

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Soft pneumatic actuators (SPAs) are vital components in soft robotics, with their bending characteristics directly impacting functionality.
• Accurate modeling of SPA bending angles and kinematics is essential for predictable performance in practical applications.

Purpose of the Study:

• To develop analytical models for predicting the bending angle and motion of a novel composite SPA.
• To validate the models through experimental comparison and demonstrate their utility in soft gripper design.

Main Methods:

• A constitutive model was established based on the actuator's structure and deformation.
• Moment equilibrium and virtual work principles were combined to model bending angles.
• Kinematic modeling, utilizing piecewise constant curvature and coordinate transformation, was adapted for SPA motion prediction.

Main Results:

• The developed analytical models demonstrated good agreement with experimental results for bending angles and motion.
• The models successfully explained the bending principles of the composite soft pneumatic actuators.
• Experimental validation using a soft gripper showed effective pinching and enveloping grasping capabilities.

Conclusions:

• The proposed analytical models provide a robust framework for understanding and predicting the behavior of composite SPAs.
• These models are crucial for the design and application of SPAs in advanced soft robotic systems.
• The study validates the effectiveness of the models in predicting both individual actuator performance and integrated robotic system functionality.