Performance enhancement of the soft robotic segment for a trunk-like arm

Introduction: Trunk-like continuum robots have wide applications in manipulation and locomotion. In particular, trunk-like soft arms exhibit high dexterity adaptability very similar to the creatures of natural world. However, owing bodies, their performance payload spatial movements is limited. Methods: this paper, we investigate influence key design parameters on robotic performance. It verified that a larger workspace, lateral stiffness, payload, bending moment could be achieved with adjustments materials’ hardness, height module segments, arrayed radius actuators. Results: Especially, 55% increase would enhance stiffness by 25% 55%. An 80% segment enlarge 112% elongation range 70 % range. Around 200% 150% increments segment’s forces, respectively, obtained tuning hardness materials. These relations enable customization arms, which tapering structure ensures stability via stocky base for an impact reduction 50% compared tip long relatively over 400% base. Discussion: The complete methodology concept, analytical models, simulation, experiments developed offer comprehensive guidelines manipulation.