Symmetrical Modeling of Physical Properties of Flexible Structure of Silicone Materials for Control of Pneumatic Soft Actuators

Abstract

With the ongoing advancements in material technology, the domain of soft robotics has garnered increasing attention. Soft robots, in contrast to their rigid counterparts, offer superior adaptability to the environment, enhanced flexibility, and improved safety, rendering them highly suitable for complex application scenarios such as rescue operations and medical interventions. In this paper, a new type of pneumatic software actuator is proposed. The actuator adopts a combination of a soft structure and pneumatic control, which is highly flexible and versatile. By using the flow of gas inside the soft structure, high-precision and flexible motion control is realized. In the design process, the extensibility and adaptability of the structure are considered, so that the actuator can adapt to different working environments and task requirements. The experimental results show that the pneumatic soft actuator exhibits excellent performance in terms of accuracy, response speed, and controllability. This research provides new ideas and methods for the development of the field of pneumatic actuators and has wide application prospects. The main research content of this paper is as follows: first, the soft pneumatic actuator is modeled and simulated, the structure is optimized on the basis of simulation, and finally, the performance of the actuator is tested.