Soft pneumatic actuator from particle reinforced silicone rubber: Simulation and experiments

Abstract

Soft actuators are important parts of soft robotics. Particle reinforcement can effectively improve their durability, reliability and life span. However, there is a lack of such actuators. Herein, we report experiments and simulation on soft pneumatic actuators from silicone rubber embedding ultrahigh molecular weight polyethylene (UHMWPE) particles. The experimental results indicate that the UHMWPE particles are uniformly distributed in silicone rubber matrix, leading to improved puncture resistance and hardness. Meanwhile, the obtained soft actuators show controllable bending angle and contact force via tuning the input air pressure. The simulation results by finite element method agree well with that from experiments in most cases, proving its applicability in the design and prediction of soft actuators composed from particle embedding rubbers. This work gives a good example to the research on soft actuators from particle embedding rubber composites, including the multifunctional actuators with conductive or magnetic particles.

Mechanically durable and damage resilient dielectric elastomer actuators

“…Highly durable soft robot and actuators have been demonstrated through the usage of soft composites. [138][139][140][141][142] Martinez et al sealed pneumatic channels with a composite strain-limiting layer (Nylon mesh embedded in Ecoflex) that had higher stiffness, strength and toughness to endow pneumatic actuators with higher resistance towards large tensile loads, and puncture. [138] This allowed the pneumatic driven soft robot to withstand being crushed by a car while lying above sharp glass fragments.…”