Effect of Geometrical Shape on Axial Deformation of Soft Actuator

Abstract

Soft actuators are the latest trend of research because of their light weight and ease of manufacturing and control. Soft actuators have expanded their fields and taken place in many applications where linear or angular deflection is required. Soft actuators are very useful in the applications where deflection is required with soft touch. Soft Actuators are highly compliant and adaptive to unknown environments. Because of these characteristics, soft actuators are very popular in the field of medical and in the applications where interaction with fragile structure is required. The soft actuators can give required responses mostly depends on their shape. Linear or angular deformation can be achieved by changing the geometrical shape of actuators. This paper presents the effect of geometrical shape on axial deformation of soft pneumatic actuator. Samples of soft actuators are selected with various shapes for finite element analysis. Results are obtained in form of axial and lateral deformation. An attempt is made to achieve good amount of axial deformation with very less or negligible lateral deformation by selecting appropriate shape. Based on the generated results, the shape is identified which gives desired results and more suitable among the selected nine samples. This sample can be useful in the application having space constraint in lateral direction.