Simplifying Soft Robots Through Adhesive-backed Fabrics

Abstract

The proliferation of soft pneumatic actuators (SPAs) has brought developments in the materials for soft actuator fabrication. However, current manufacturing methods require complicated molding processes, impose size limitations due to equipment dimensions, or involve time consuming sealing steps. This work introduces and explores a novel material for simpler SPA prototyping: the adhesive-backed fabric (ABF). Fabrication methods are described, and performance is analyzed using a horizontal and vertical grip test. Three types of ABF are used to construct soft grippers and compared with a previously validated textile material. ABF-SPAs are found to perform adequately similar to the previously validated textile in grip tests. A method for determining the failure limit of adhesive-backed material is also described based on the tensile strength and the shear strength of the adhesive, and the method is validated via pressurization tests. The method is found to reasonably predict the failure mode and failure point of ABF material. To further demonstrate capabilities of ABF, one of the ABFs is chosen for construction of a linearly expanding ABF-SPA. The actuator is able to extend by over 3400% of its original length.