Quasi-Static Modeling Framework for Soft Bellow-Based Biomimetic Actuators

Area of Science:

• Robotics
• Materials Science
• Mechanical Engineering

Background:

• Soft robots utilize elastomeric matrices and flexible materials for enhanced adaptability and movement.
• Bellow-shaped actuators offer greater efficiency than fiber-reinforced actuators, requiring less input pressure for similar motion.
• Quantifying bellow-based soft fluidic actuator performance is challenging due to complex, non-uniform structures.

Purpose of the Study:

• To develop a quasi-static analytical model for analyzing bellow-based soft actuators with linear extension.
• To provide standardized guidance and criteria for designing bellow dimensions.
• To facilitate the determination of optimal geometrical parameters for effective biomimetic robot design.

Main Methods:

• Quasi-static analytical modeling of bellow-based soft actuators.
• Validation through finite element method (FEM) simulations.
• Experimental testing under fluidic pressurization and free space elongation.

Main Results:

• The developed analytical model accurately predicts the performance of bellow-based soft actuators.
• FEM simulations and experimental results validate the model's predictions.
• The study provides a framework for determining optimal bellow actuator geometry.

Conclusions:

• The quasi-static analytical model offers a robust method for analyzing bellow-based soft actuators.
• This research addresses the lack of standardized design criteria for bellow dimensions.
• The findings enable improved performance prediction and optimization for biomimetic robots.