Soft pneumatic actuator from particle reinforced silicone rubber: Simulation and experiments

摘要

Abstract Soft actuators are important parts of soft robotics. Particle reinforcement can effectively improve their durability, reliability and life span. However, there is a lack of such actuators. Herein, we report experiments and simulation on soft pneumatic actuators from silicone rubber embedding ultrahigh molecular weight polyethylene (UHMWPE) particles. The experimental results indicate that the UHMWPE particles are uniformly distributed in silicone rubber matrix, leading to improved puncture resistance and hardness. Meanwhile, the obtained soft actuators show controllable bending angle and contact force via tuning the input air pressure. The simulation results by finite element method agree well with that from experiments in most cases, proving its applicability in the design and prediction of soft actuators composed from particle embedding rubbers. This work gives a good example to the research on soft actuators from particle embedding rubber composites, including the multifunctional actuators with conductive or magnetic particles.