Simulations of two patterns fiber weaves reinforced in rubber actuator

Abstract

Over recent years, studies on soft mechanism are rapidly being paid to attention especially in pneumatic actuator field. A good actuator should be able to provide sufficient force and flexibility in movement, hence bending motion is a vital criteria needed in soft robotic actuation. In this paper, a solution to soft bending pneumatic actuator is proposed in which several patterns fiber weave designs are introduced. The objectives of the simulations is to investigate the different weave patterns combination of fiber reinforced actuator models that yields the best bending characteristics and its relation to the contraction or extension characteristics shown by single weave pattern actuator models. From the results, when two patterns of fiber weave were attached together to form a sleeve, significant bending were obtained from most of the models simulated. Large bending resulted from combined two patterns fiber weave models were achieved when maximum contraction and extension characteristics exhibited by both fiber weave patterns.