Computational Design for Inflated Shape of a Modular Soft Robotic Actuator

Abstract

A soft robotic actuator of modular construction has been designed where multiple repeated asymmetric deforming units are connected in series to alter the final deformed shape. Using a Genetic Algorithm that can change the orientation of each articulating unit by 180°, a combination of orientations is calculated to yield what best resembles the desired profile that is specified by means of a continuous function. To improve simulation run times for the finite element analyses, a reduced order model is presented where the 3D model is simplified to that of a 2D plane strain approximation. This preliminary work shows that by using an advanced computational design tool interesting behaviour can be achieved whilst using only a very simple asymmetric deforming modular unit. A physical actuator was manufactured and the deformation compared to the numerical models.