Increasing Bending Performance of Soft Actuator by Silicon Rubbers of Multiple Hardness

Abstract

In this study, a method for fabricating actuators made of various silicone materials is proposed to improve the flexural performance of soft-body actuators. Specifically, the redundant deformation part of the soft actuator was replaced with a material with higher hardness to limit the redundant deformation of the soft actuator. Materials with lower hardness were used to produce the main deformation part of the soft actuator, so that the soft body actuator could perform greater bending under the same air pressure and create a greater bending force. In addition, the fabricated actuator was divided into three regions in this study: the periphery of the chamber, the chamber wall (the main curved part), and the bottom surface of the actuator. The impact on the overall performance of soft-body actuators when using silicone materials with different hardness in these three regions was explored in this study. According to the idea of the multi-hardness silicone structure, an actuator with seven chambers was fabricated, and the performance of the actuator was improved by 90.72% compared with the uniform material actuator.