A theoretical model-based methodology to the design of soft structures: A case study of pneumatic mesh actuators

• Published in: Materials today communications 2024-12, Vol.41, p.110945, Article 110945
• Main Authors: Yu, Yuan, Gao, Sichen, Deng, Xuan, Sun, Ce, Yuan, Jiangming, Yang, Weimin, Jiao, Zhiwei
• Format: Article
• Language: English
• Subjects: Design methodology; Pneumatic mesh actuators; Soft robots; Structural design theory; Theoretical model
• ISSN: 2352-4928; 2352-4928
• DOI: 10.1016/j.mtcomm.2024.110945

Soft robots offer significant potential in various fields, including healthcare, education, and rescue operations, where actuators are critical components that influence power, precision, and environmental adaptability. However, the nonlinear properties of hyperelastic materials often necessitate reliance on empirical methods and extensive experimentation for actuator design. This study introduces a methodology for designing soft structures, exemplified by pneumatic mesh actuators. Utilizing numerical simulations to investigate deformation patterns and applying the principle of virtual work within a segmented constant curvature framework, a theoretical model was developed to describe the relationships between input air pressure, bending angle of a single airbag, and wall thickness. To validate the model's accuracy and applicability, bending tests were performed on actuators with varying wall thicknesses. A new pneumatic mesh actuator was designed and fabricated using the proposed method, with the experimental results showing a deviation of only 0.27° from the target bending angle under the specified air pressure. This confirms the effectiveness of the proposed design approach. This methodology has potential applications beyond pneumatic mesh actuators, extending to other areas of soft structure design. [Display omitted]