MODELING AND EXPERIMENTAL EVALUATION OF GEOMETRY AND WALL THICKNESS ON THE DYNAMIC PERFORMANCE OF SILICONE-BASED SOFT PNEUMATIC ACTUATOR
DOI:
https://doi.org/10.11113/jm.v48.707Keywords:
Soft Robotics, Soft Robotics, Pneumatic Actuator, Silicone Rubber, SolidWorks, Design OptimisationAbstract
This paper presents the design, fabrication, and testing of a pneumatic actuator using silicone rubber. The study addressed the need for adaptable, flexible actuators in soft robotics applications. Single and multi-chamber designs are created using SolidWorks and fabricated through 3D printing and mold casting. Physical characterisation included stress-strain tests, repeatability assessments, and frequency response evaluations. Python is used to process video-tracked strain data and calculate mean and standard deviation across cycles. Different designs are explored in terms of key geometric parameters for bellow-shaped actuators, including multiple tapered edges of 7 and 13, tapered angles of 40° and 60°, and wall thicknesses of 2.5 mm, 3.0 mm, and 3.5 mm, allowing for comparison of actuation performance across configurations. The best-performing design achieved maximum displacement, high strain, and demonstrated strong durability based on repeatability performance, as indicated by a low standard deviation across multiple actuation cycles. The results revealed that design configuration 3 was the most efficient in terms of displacement and structural integrity. Among the thickness variations, Design 1.2 with a 3.5 mm wall thickness exhibited superior performance in structural stability and repeatability. The valuable insight highlighted is that the performance of silicone-based actuators is influenced by geometry and wall thickness, supporting the optimisation of soft actuators for precision control and efficiency.
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