关键词: 软体气动抓手, 弯曲变形, 主应力线, 材质优化, 软体机器人

Abstract: Soft actuator is an important part of soft robots.Traditional design methods are difficult to design software driver with specific functions.To solve this problem,a design method of soft actuator based on the principal stress line was presented,which could realize the design based on the target function.Based on the given target functional parameters,the method calculated the principal stress line direction by pre-simulation,and the frame constraint structure was generated around the pneumatic chamber along the direction of principal stress line.A heuristic method was applied to adjust the material parameters of the frame constraint structure and the pneumatic pressure of the chamber.Based on the soft actuator,a soft pneumatic gripper was designed and tested.

Key words: soft pneumatic gripper, bending deformation, principal stress line, material optimization, soft robots