A Nonlinear Finite Element Analysis of a Tapered Soft Actuator for Improved Bending Performance in Soft Robotics

Abstract

Compared to hard robots, soft robots, often referred to as nature-inspired robots, offer a safer approach to interact with delicate goods like agricultural and food products. This study sug- gests a novel soft actuator design that takes inspiration from a soft pneumatic actuator with a rec- tangular shape including a row of channels. The actuator is tapered to optimise its bending angle and decrease energy losses caused by its form. Due to their nonlinearities varying geometries, soft actuators are challenging to model, and the Finite Element Method should be used to deal with these problems. This research paper proposes a finite element analysis–based deformation model. In or- der to forecast the impact of boundary conditions and support the behaviour of large deformable materials utilised in soft robotic gripper applications. This paper presents a finite element analysis- based deformation model to predict the effect of boundary conditions and supports the behavior of large deformable materials used in soft robotic gripper applications. Future research in this field can be developed on the findings of this area.