Topology Optimization Design and Experiment of a Soft Pneumatic Bending Actuator for Grasping Applications

Soft pneumatic bending actuators are commonly used in robotic grasping applications and can be applied for handling both delicate irregularlyshaped objects. Because these soft typically embedded with multiple air chambers inside soft, thin structures, their maximum payloads usually low compared to rigid designs of similar size. This article presents a actuator design using topology optimization procedure that maximize the capability thus increase allowable payload grippers consist actuators. After an optimum is obtained, identical prototyped through molding process silicone rubber material. Both two-fingered three-fingered developed topology-optimized Experiments, including angle test, output force conducted this study,and results against test commercial SRT actuator. The experimental show 111 degrees on average 10 tests at input pressure 50 kPa. 9.45 N 80 kPa, while 2.66 kg 5.12 kg, respectively.