Analysis of deformation and multi-angle tip contact in a combined mechanism of thin-walled membrane forces and inextensible layers in soft actuators

Abstract

Soft actuators have extensive applications in operations, are generally made of elastomers, and generate large deformation. It makes accurately predicting their deformation behavior challenging. This study considers the combined effects of chamber sidewall expansion and inextensible layer strain mechanisms on the actuator's bending and tip contact force. We separately model the expansion of the chamber sidewall and the strain in the inextensible layer using the expanding membrane and strain beam theory. The theoretical model presented to predict the contact area of the sidewall expanding membrane under multiple bending conditions. The analytical models for three actuator states are established: 1) Free space; 2) Tip contact at multiple angles; and 3) Grasping state. The proposed theoretical model accurately predicts deformation, force characteristics, and the requisite pressure for object grasping, and its applicability extends to similar soft actuators. Comparative analyses with finite element methods (FEM) and experimental results validate the model's computational efficiency, reduced design variables, and accurate prediction of diverse deformations and tip contact forces. Notably, the model outperforms with shorter computation times. The large and small chamber spacing errors are approximately 10 % and 5 %, respectively.