Modeling and Experimental Study of Multichambered Composite Bending Soft Pneumatic Network Actuator
Soft robots offer benefits such as high flexibility and safe man-machine interaction.They have broad appli-cation prospects,in particular,in the operation of fragile objects in an unstructured environment.Pneumatic soft actuators are vital components in constructing soft robots,and their characteristics directly affect their performance.According to the nonlinear geometric relationship between the expansion angle of the chamber sidewall and the bend-ing angle of the actuator,a quasi-static model of multichamber pneumatic soft actuators was established.This model was based on the Hertz contact theory and the Yeoh hyperelastic nonlinear constitutive equation for incompressible materials.Furthermore,it considered the geometric nonlinear characteristics of hyperelastic material deformation and multichamber sidewall expansion contact.Thus,it accurately described the relationship between each air pressure,actuator bending angle,and tip force.Furthermore,in accordance with biomimetic principles,a multichambered composite bending pneumatic actuator structure was designed.The proposed analytical model was validated by the finite-element simulation method and experiments based on this structure.The results show that the maximum differ-ence between the analytical model,the finite-element simulation,and the experimental results is less than 10%.The pneumatic soft actuator analytical model exhibits good accuracy.
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