Design and Modeling of a New Multi-sectional Soft Robot

This paper presents manufacturing of a soft robot similar to human finger. The soft robots are made of flexible material that gives them specific property. They could interact safely with human and delicate objects. Also, soft robots technology has low cost and easycustomization. Hence, a new soft bending fiber reinforced actuator with ability of bending like traditional link jointed robots is fabricated. In this design, a bending joint with new shape is introduced to improve the performance of the soft robot. To manufacturing the robot, the silicon casting with multi sectional mold is used. Furthermore, using the commercial package of Abaqus and python scripting, thebehavior of the robot is modeled and compared with experimental results. Comparison of the results shows a good agreement between the numerical and experimental result. In addition, the effect of the wall thickness, inextensible layer thickness, width and height of therobot on robot tip displacement was analyzed by Taguchi method.

کلیدواژه ها:

Soft robotics ، Finite element analysis ، soft actuator ، finger like robot ، multi-section robot