Fabrication and Analysis of Pneumatically Actuated Soft Robotic Gripper with Negative Pressure

Soft-bending actuators are gaining considerable attention in robotics for handling delicate objects and adapting to complex shapes, making them ideal for biomimetic robots. Soft pneumatic actuators (SPAs) are preferred in soft robotics because to their safety and compliance characteristics. Using negative pressure for actuation, it enhances stability by reducing the risk of sudden or unintended movements, crucial for delicate handling and consistent performance. Negative pressure actuation is more energy-efficient, safe and are less prone to leakage, increasing reliability and durability. This paper involves development of a new soft pneumatic actuator design by comparing various designs and to determine its performance parameters. This paper depicts on designing, and fabricating flexible soft pneumatic actuators working under negative pressure for soft robotic applications. The material used for fabrication was liquid silicone rubber and uniaxial tensile tests were conducted to characterise the properties of materials used to fabricate the soft actuator. The design process begins with conceptualizing the gripper's geometry and layout, considering factors such as material properties, actuation mechanisms etc. Finite element analysis is then employed to evaluate the performance and behavior of the gripper under different loading conditions in negative pressure. Moulds were manufactured using rapid prototyping machine for manufacturing soft pneumatic actuators. Experimental studies were conducted and compared with simulation results.