Modeling and Fabrication of Soft Actuators Based on Fiber-Reinforced Elastomeric Enclosures

Unlike rigid actuators, soft actuators can easily adapt to complex environments. Understanding the relationship between deformation of and external factors such as pressure would enable rapid designs based on specific requirements, flexible, compliant endoscopes. An effective model is demonstrated that predicts a actuator virtual work principle geometrically exact Cosserat rod theory. The process analyzed for extension, bending, twisting modules. A new manufacturing method then introduced. Through any combination modules, have greater workspace more dexterity. proposed was verified various fiber-reinforced elastomeric enclosures. There good agreement analysis experimental data, which indicates effectiveness model.