Abstract
Several soft robots consist of pneumatic actuators which are developed by using rubber-like materials such as silicone rubber, dragon skin, elastosil, and ecoflex. The complex geometry and nonlinearity in the soft pneumatic actuator (SPA) make the analytical model very difficult to predict the bending behavior of the SPA. The computational simulation technique also known as the finite element method (FEM) is an alternative and effective way to determine the bending behavior of soft actuators. In this work, two SPAs with the plane and corrugated structures are designed and compared in terms of bending angle using FEM. Ecoflex 0050 hyperelastic material model is considered for the analysis. From the FEM simulation results, it has been observed that the SPA with corrugated structure is more efficient because it shows a higher bending angle even at low pressure as compared to the plane-structured SPA. Moreover, a finer mesh led to the accurate distribution of stress and bending angle of the SPA.
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Gariya, N., Kumar, P. (2023). A Comparative Analysis of Plane and Corrugated Designs of Soft Pneumatic Actuators Based on Finite Element Method. In: Sharma, R., Kannojiya, R., Garg, N., Gautam, S.S. (eds) Advances in Engineering Design. FLAME 2022. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-99-3033-3_43
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