Fiber pattern optimization for soft robotic pad

Abstract Recently, multi-dimensional soft pneumatic actuators (SPAs) have become a nascent topic in the field of soft robotics. Soft robotic pad (SRP), as the first genuine 2D SPA, has been created to have programmable surface morphing capability and scalable force output, and thus utilized in a few applications. In the early stage of SRP development, its inconsistent strength has been the biggest issue for its applications as it sometimes breaks upon low pressure, and thus fails to produce sufficient force and motion. In this paper, the optimization of the SRP is presented in terms of the inner fiber pattern design which plays an important role in the SRP strength. With the SRP structure illustrated, and the failure mechanism explained and modeled, the overall optimization scheme is introduced and implemented through a series of failure tests and the final optimization program. The efficacy of the optimization is verified through further failure tests and prove that, with the optimized fiber pattern parameters, the SRPs can be operated safely for different applications without the concern about break. SRP with its smart structure and unique capability has become a new member of the SPA family and also pushed the boundary of soft robot.

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