Flexible Design of the Connecting Plate in Pneumatic Soft Manipulators

This paper presents a novel connecting plate for achieving flexible connection in soft manipulator. The main material used the is silicone, which functions similarly to bionic oblique muscle (BOM) of an octopus arm and takes over two actuator segments. Each segment consists three chambers, chambers are assembled with via bolts loops be By using instead rigid one, manipulator achieves more dexterous movements. establishes nonlinear model analyzing shear compression deformation silicone plate. Additionally, finite element method was analyze mechanical performance can reduce stress concentration during movement Therefore, experiment, BOM exhibited better motion compared