Modelling and FEM simulation of a rotating hyperelastic spherical balloon actuator

Abstract

This paper presents static modelling and simulation of a spherically-shaped hyperelastic balloon actuator subjected to an angular rotation with an internally applied air pressure. These actuators are extensively used in soft robotics because its safe and flexible nature. The balloon actuator is a pneumatic-type actuator made of a polymeric material. A continuum mechanics-based analytical modelling and Finite element method-based simulation are performed to predict the response of the actuator for a given angular rotation with internally applied air pressure. The proposed modelling framework is subsequently utilised to perform the parametric studies for varying pressure, thickness, and rotational speed of the actuator. Various elastic instability curves are also obtained to examine the critical inflation of the rubber balloon actuator. The analytical findings agree well with the FEM simulations.