Design and fabrication in the loop of soft pneumatic actuators using fused deposition modelling

Abstract Soft robotics provides a novel solution for automation processes which require high flexibility and safe interaction with human or delicate objects. Soft Pneumatic Actuator (SPA)—the most common type of actuators in soft robotics—is consequently rising in demand. However, the current method to design and manufacture SPAs can be highly time-and-resource- consuming. Using current fused deposition modelling (FDM) 3D printing technology, SPAs can be manufactured more rapidly; however, existing method to design them still includes extensive mechanical tests. In this paper, a novel design optimization method is presented: computer simulation using Finite Element Method and Yeoh model for hyperelastic material determines the value of material constant based on performance of a SPA prototype. To validate this method, SPAs with different geometries were fabricated, tested, and simulated using the obtained value of material constant. The results confirmed that the value of material constant obtained from this method could predict the performance of the real 3D-printed SPAs within a range of deflection angles. This approach is expected to reduce the manufacturing time and cost of mechanical tests.