Finite Element Analysis of Soft Pneumatic Actuators

Analyzing the bending of actuators during inflation in ABAQUS CAE

Bending of the Actuator

  • Pressure loading is applied uniformly in the inner cavities. Tetrahedral element (hybrid) is used for the meshing
  • The simulation is a quasi-static analysis in which the part while bending, is at equilibrium at each time increment
  • Stress at the tip of the actuator (blocking force) and change in bending angle can be computed using post processing tools

Fabrication of Soft Materials via 3D Printing

MakerGear M3 Printer

Slicing Tool used: Simplify 3D

  • Printed PLA, NinjaFlex, Conductive PLA
  • Reverse Engineered the Printer for printing Softer Materials (Shore hardness less than 92A)
  • Performed techniques like Cold-Pull to avoid clogging of soft filaments during extrusion