Parametric study of the honeycomb structured pneunet soft actuators using numerical solutions

Abstract

PneuNet, a pneumatic actuator employing interconnected air channels in flexible materials like rubber or silicone, plays a pivotal role in soft robots by providing essential motion and force for achieving specific performance goals. Within the realm of PneuNet soft actuators, the cross-sectional design assumes paramount importance, as it directly impacts their overall performance. Notably, the honeycomb structure within this design necessitates a thorough parametric study, focusing on optimizing actuator functionality. So, the proposed research, utilizing Ecoflex 30 as the chosen material, involves a parametric study of the honeycomb-structured PneuNet soft actuators using numerical solutions. Abaqus CAE was used to explore the impact of operational variables, including operation pressure, bottom layer thickness, and the gap between chambers within these honeycomb-structured PneuNet soft actuators, on their deformation and bending angles. Deformation, quantified and analyzed in two dimensions, led to the calculation and comprehensive analysis of bending angles. The key findings of this study indicate that the bending angle demonstrates a nearly linear relationship with operation pressure, whereas it exhibits mixing relationships with the bottom layer thickness and gap between chambers. Through the objectives, the research sought to contribute to the advancement of the field.