Characterization of 3D printed pneumatic soft actuator

• Novel functional design of a fully 3D printed soft pneumatic actuator. Sealed structure in one continuous process without support material. finite element model is able to predict the response designed actuators. Dynamic actuator was characterized under different conditions. Functional grips lift objects were manufactured and tested. Soft robotics have been investigated replace rigid systems due necessity safe interaction between robots humans. These types are composed actuators, which create motion linear or rotational trajectory. actuators can be made using manufacturing processes, but most common mold casting. However, this involves several steps increasing time hindering changes. This study presents novel actuator, fused deposition technology. The flexible material for printing available on market, with shore hardness 60 A. paper characterization performance pressure Computational simulations based previous mechanical results compared experimental measurements. theoretical an error less than 7%. bellow bend 120° at 25 psi. Additionally, dynamic three parameters: load, frequency pressurization, level. High values produce higher deformations greater displacements; load reduces damping producing more vibration stabilization. Finally, two gripper designs tested opening closing movements single Both capable holding lifting twice actuator’s weight. functionality both simulated experimentally.