Simulation and analysis of ABAQUS-based pneumatic soft bending actuator
The performance of soft-body robots mainly depends on the actuator.There are still some difficulties in the optimi-zation of actuator structure,and there is an urgent need to analyze the geometrical parameters of actuators with different structures,so a simple and easy-to-control pneumatic soft-body bending actuator is proposed,whose internal chamber is a four-cylindrical straight cavity,and the external constraint is an O-ring.Based on the finite element analysis of ABAQUS software,the control variable method is used to analyze and study the effects of changing nine geometric parameters such as wall thickness,length,cavity radius,cavity eccentricity,etc.on the bending performance of the pneumatic soft body bending actuator,and the better geometric parameters are obtained.When the actuator applies pressure of 200 kPa to a single cavity,the maximum bending angle of 124.22° is obtained,and the bending performance is improved by 51.65％and it can guide the optimization of other pneumatic soft body bending actuators.
soft-body bending actuatorfinite element analysisgeometric parameter analysiscontrol variable method
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