3D-Printed soft pneumatic actuators: enhancing flexible gripper capabilities

Abstract

Soft gripping technologies have attracted significant attention due to their potential to advance mechatronics and human-machine interaction. Among various soft actuation methods, 3D-printed, pneumatic-based soft actuators stand out for their versatility and adaptability. This study investigates a unique semi-oval-shaped groove design, featuring a hollow 3D-printed structure made from soft material, and analyses its performance under varying pneumatic pressures. Soft actuators with different groove geometries were fabricated using material extrusion techniques. Their compliance, deformation behavior, and gripping capabilities were evaluated through experimental testing. The outcome shows that the actuator exhibits increased deflection with rising pneumatic pressure, highlighting its high sensitivity. At an applied pressure of 5 bar, a maximum deformation of 72.0 mm was recorded. Furthermore, numerical simulations closely matched the experimental results within a certain pressure range. The actuator's ability to bend and conform to objects of various shapes and sizes demonstrates its excellent compliance and adaptability. These findings confirm that an optimal pressure level enables reliable object gripping using a Thermoplastic polyurethane-based soft actuator. As soft gripping technologies advance, such actuators are poised to play a crucial role in revolutionizing industries like manufacturing, logistics, and robotics by offering innovative solutions for diverse gripping challenges.