Abstract
Soft actuators have emerged as a promising solution for applications that conventional actuators are unable to address. Soft pneumatic actuators (SPAs) are widely used among various types of soft actuators due to their good performance and ease of use. However, the control of SPA movement poses challenges due to limited knowledge regarding their behaviours and characteristics, which are significantly influenced by the design. Therefore, this study aims to investigate the impact of three design parameters commonly modified during SPA design: chamber length, number, and wall thickness. Specifically, we examine their effects on the curvature and tip force generated by 3D printed SPAs. In this experimental study, we printed 21 SPAs using fused deposition modelling (FDM) 3D printing technology, employing varying chamber lengths, numbers, and wall thicknesses. The SPAs were then inflated with pressurized air, and the resulting outcomes were measured and analysed. Our findings reveal that increasing the chamber length leads to a reduction in the generated tip force, while also having a minor effect on reducing the curvature. Conversely, the addition of chambers enhances the curvature of the SPA, and diminishes the generated tip force, likely due to the presence of buckling chambers in the mid-body of the SPA. Notably, modifying the wall thickness of the chamber significantly affects the curvature, exerting a larger impact compared to the number of chambers. However, wall thickness does not significantly influence the generated tip force. These findings provide valuable insights for engineers to better comprehend the parameters affecting SPA characteristics, thereby reducing prototyping time and cost.
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Ritonga, S.A., Herianto, Muzhaffar, A. et al. Analysis of design parameters’ effect on 3D printed soft pneumatic actuator generated curvature and tip force. Int J Intell Robot Appl 7, 752–762 (2023). https://doi.org/10.1007/s41315-023-00296-w
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DOI: https://doi.org/10.1007/s41315-023-00296-w