Design and Finite Element Analysis of Pneumatically Actuated Soft Gripper under Combined Positive and Negative Pressure

Soft-bending actuators have garnered significant interest in the field of robotics and biomedical engineering due to their ability to mimic the bending motions of natural organisms. In this study, we propose a novel soft bending actuator that utilizes combined positive and negative pressures to achieve enhanced performance and control. The actuator consists of a flexible elastomeric chamber divided into two compartments: a positive pressure chamber and a negative pressure chamber. By selectively applying positive and negative pressures to the respective chambers, controlled bending motion can be achieved. The combined positive and negative pressure approach allowed for faster response times and increased flexibility compared to traditional soft actuators. Additionally, the actuator exhibited a high level of controllability, enabling precise manipulation of the bending motion. Its flexibility, controllability, and enhanced performance make it suitable for a wide range of tasks requiring delicate manipulation or conformable environmental interaction. Furthermore, the actuator's simple design and cost-effective manufacturing process contribute to its practicality and scalability. This work includes, modeling and conducting simulations on a soft robotic gripper working under combined positive and negative pressure. Once the results from simulations and experiments conducted by fabricated models are collaborated, the geometrical parameters are modified to get improved results. The improved model is fabricated and compared with the original model in terms of pressure range, bending angle, versatility, and weight-carrying capacity. The results showed that the change in geometrical parameters has had an effect on actuator performance and the modified model had numerous advantages over the original model. The actuator's capabilities, including its bending range, response time, controllability, and simplicity, make it a promising candidate for various applications in robotics and biomedical engineering.