Effects of Flexural Rigidity on Soft Actuators via Adhering to Large Cylinders

This study proposes a soft pneumatic actuator with adhesion (SPAA) consisting of top fluidic-driven elastic and four bottom adhesive pads for adhering to large cylinders. Finite element models were developed investigate the bending properties under positive air pressure effect “rib” height on flexural rigidity SPAA. A synchronous testing platform contact state mechanics was developed, curvature SPAA experimentally measured relative height, respectively, including performance different rigidities The obtained results indicate that can continuously bend controllable actively envelop wide range cylinders curvatures. increase in from 4 8 mm increases by approximately 230%, contributing an average 54% more significantly at smaller peeling angle. has better than most existing actuators, implying is stable less affected To address low ratio during adhesion, optimization designs rigid–flexible coupling hierarchical differentiated AP structures proposed 80% simulation. In conclusion, this improved actuators extended application scope technology. basic unit universal structure aspect similar human finger. According working conditions requirements, SPAAs be assembled multi-finger flexible gripper excellent maneuverability.