Soft and lightweight fabric enables powerful and high-range pneumatic actuation

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Conventional soft robots use hyperelastic materials, limiting workspace and payload capacity due to high stretchability.
• Existing soft actuators struggle to balance compliance with structural integrity for demanding tasks.

Purpose of the Study:

• To introduce a new series of pneumatic actuators utilizing soft, less stretchable fabric.
• To demonstrate actuators capable of tunable workspace and high load-bearing.
• To present a robotic gripper showcasing the practical application of these fabric actuators.

Main Methods:

• Fabric-based pneumatic actuators were designed and fabricated.
• Actuator performance was evaluated for workspace, payload capacity, and response to low input pressure.
• A robotic gripper was constructed using three fabric actuators to test grasping capabilities.

Main Results:

• The fabric actuators exhibited programmable, combinable, and predictable motion modes with rapid response.
• A robotic gripper achieved a grasping force exceeding 150 N.
• The gripper demonstrated a wide grasping range, from 70 to 350 millimeters.

Conclusions:

• Soft, less stretchable fabric actuators offer a viable solution to overcome limitations in workspace and payload for soft robots.
• The presented design guidelines provide a foundation for developing more practical and capable soft robotic systems.
• This approach enhances the adaptability and functionality of soft robots for real-world applications.