Abstract
Smart polymers are used for designing of soft actuators for soft robotics applications. Performances of actuators depend upon mostly on stimulation environment, design for gripping with required bending moment and bending deflection. Dielectric polymers are one of the important smart polymers that is used grippers for soft robotics. It is actuated under high voltage in the range of kV but consumes less power. In this paper, thermoplastic polyurethane (TPU) is considered for design of gripper. A gripper design using TPU and rubber has been proposed and bending features were analyzed. It was found that thinner layer of TPU with thick layer of rubber is suitable for gripper design.
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