Structural analysis of bending soft pneumatic network actuators for various designs using the finite element method

Abstract

Purpose This paper aims to present the numerical analysis of displacements, forces and bend angles of three different structural designs of a soft actuator using the finite element method. The results of this analysis help understand the physical behavior of the soft pneumatic actuator. Design/methodology/approach The soft actuator is designed using commercial modeling software, and the design of the actuator is analyzed using ABAQUS 19.0 with a standard implicit nonlinear analysis. There are three types of structural designs for actuators, namely, rectangular-base model, trapezoidal-base model and the trapezoidal model considered in the present study. Findings Maximum displacement, force and bend angle are observed in the rectangular-base model at various pressure levels. Originality/value The development of novel designs of the soft pneumatic actuator to undertake a comparative analysis of displacement, force and bend angle.

Numerical investigation on the effect of pressurization scenarios on the deformation behaviours and operating volume of a four-chambered soft actuator

“…As the material selected is hyperelastic in nature, a mathematical model, Yeoh model (second order), was used to fully describe the material model (Polygerinos et al , 2013; Yeoh, 1993; Li and Wei, 2015; Rackl, 2015) as shown in equation (1), where W is the strain-energy potential, I 1 is the first invariant of the right Cauchy–Green tensor and C i are the material constants. The modulus of elasticity is not compatible with hyperelastic materials (Venkatesan et al , 2021b), and the material coefficients of Yeoh model used are listed in Table 1 which describes the nonlinear stress–strain behavior of the material (Xavier et al , 2021; Venkatesan et al , 2021a): …”

“…In real-world scenario, the pneumatic chambers are connected to a source via a controller that regulates supply pressure in these chambers. The assumption made in the finite element method model is that bottom face of the actuator was constrained in all directions to simulate this fixation, and the other end was allowed to bend freely (Venkatesan et al , 2021a, 2021b). The effect of gravity was not considered in the present study, and only a static finite element analysis of the actuator is carried out.…”

“…The effect of gravity was not considered in the present study, and only a static finite element analysis of the actuator is carried out. The material was assumed to be homogeneous, isotropic and nonlinear elastic (Venkatesan et al , 2021a, 2021b). Ideal geometric conditions were considered omitting manufacturing errors.…”

“…The material used in their study is Elastosil M4601 A/B silicone rubber RTV-2; its material specifications are shown in Table 1. Elastosil M4601 is a popular choice for soft gripping applications because it is soft and easily extensible under low pressure, while also being rigid enough to generate adequate blocking/gripping forces to hold delicate objects (Venkatesan et al, 2021a(Venkatesan et al, , 2022. As the material selected is hyperelastic in nature, a mathematical model, Yeoh model (second order), was used to fully describe the material model (Polygerinos et al, 2013;Yeoh, 1993;Li and Wei, 2015;Rackl, 2015) as shown in equation ( 1), where W is the strainenergy potential, I 1 is the first invariant of the right Cauchy-Green tensor and C i are the material constants.…”

Experimental investigation on enhancement in pure axial deformation of soft pneumatic actuator (SPA) with cap ring reinforcement

“…Fluid-powered fibre-reinforced actuators [21] have been devised, mirroring the intricate movements of the index finger and thumb. Numerous researchers [22][23][24][25][26][27][28][29][30][31][32][33][34][35] have made significant contributions in various areas, showcasing their remarkable work.…”