Bending Deformation Relation with Various Materials for a Soft Pneumatic Actuator

Soft robots have become more popular in the robotic field. They can perform unique actions such as grasping delicate objects, robotic surgeries, etc. They are made up of soft materials, hence they are adaptable according to their working environment, but the problem is their modeling. There are different methods are available like Beam theory, Cosserat theory, Finite element method, and so on. Even though it is not possible to find out a perfect model for the soft robotic system. The most commonly used method is the Finite element method. Among soft robots, soft grippers are very important. Hence in this paper design of a soft pneumatic gripper has been done by using the Finite element method. A soft pneumatic (gripper) or actuator is the one that will work with applied pressure. Our system modeling has been done by using Ansys software and simulated for different materials as well as different shapes.