Abstract
Soft actuators are a critical component of soft robotic systems, the multi-cavity composite soft pneumatic actuators have wide potential applications due to their ability to generate complex motions. A timesaving and flexible fabrication process of this actuator was presented in this paper. Then, we analysed and proposed the parameters of the material and proved its validity by comparing the result of experiments and finite element analysis (FEA) simulations. In addition, the characteristics of the cross-sectional shapes were also investigated by FEA simulations. Finally, the performance of the number of air channels were investigated experimentally. This work provides the basis for designing customized multi-cavity composite soft pneumatic actuators with strict functional requirements.
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