Engineering Research Journal

journal homepage: https://erj.journals.ekb.eg/

Advanced Geometric Optimization and Simulation of 2-DOF Soft

Pneumatic Grippers for Enhanced Robotic Manipulation

Mahmoud Elsamanty 1,2, Shereen khamis korany1, *, Mohamed saber Sokar 1

1
Benha University- Faculty of Engineering at Shoubra- Mechanical Engineering Department–
Cairo-Egypt
2
Egypt-Japan University of Science and Technology - School of Innovative Design, Engineering -
Mechatronics and Robotics Department - Alexandria, Egypt
*Corresponding Author E-mail: [email protected]

Abstract
Pneumatic grippers, integral components in robotics, are renowned for their adaptability and safety
when handling delicate and diverse objects, particularly in unstructured environments. These devices
use compressed air to actuate, providing a compliant yet effective gripping mechanism in contrast to
the rigidity of traditional robotic grippers. This study introduces an innovative design and optimization
of two-degrees-of-freedom (2-DOF) soft pneumatic grippers. Using advanced simulation techniques,
including finite element analysis (FEA), this research examines how variations in the angle of the teeth
(β), among other parameters, influence the performance of soft pneumatic actuators. The angle of the
teeth is varied systematically from 0˚ to 15˚ in 5˚ increments, providing insights into the actuator's
flexibility and response to applied pressures ranging from 110 kPa to 190 kPa. The use of ANSYS
software facilitated detailed modeling and analysis of deflections along the X and Y axes, as well as
stress levels and elastic strain under different operational conditions. Results indicate that increasing β
from 0˚ to 15˚ led to an increase in vertical deflection along the Y-axis by up to 28%, highlighting the
gripper's enhanced sensitivity to pressure changes. This sensitivity significantly affects its mechanical
compliance and deformation characteristics, with a notable 22% increase in elastic strain observed at
the highest angle of deformation. Moreover, stress analysis revealed a 20% variation in peak stress
distribution across the tested range. This sensitivity is particularly evident in vertical deflections along
the Y-axis, suggesting a directional dependency on structural parameter modifications. Additionally,
this study explores the integration of soft robotic technology in applications requiring delicate object
handling and complex environmental interactions. This research contributes to the development of more
efficient and versatile soft pneumatic grippers.

keyword: Soft Pneumatic Grippers, Finite Element Analysis (FEA), Geometrical Parameter
Optimization, Robotic Manipulation, Elastic Deformation.

DOI: 10.21608/erj.2024.319496.1096
Received 13 September 2024; Received in revised form 30 September 2024; Accepted 15 October 2024
Available online 01 December 2024
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1. Introduction

Soft robotics represents an emerging frontier in robotic technology, characterized by using flexible
and compliant materials such as silicone rubber [1]. This field prioritizes safety during human-robot
interactions while demonstrating exceptional capabilities in manipulating complex and delicate objects
[2]. Two historical developments have significantly influenced the evolution of soft robotics. The first
is the commercialization of pneumatic actuators based on mesh-constrained elastomeric bladders,
known as McKibben actuators, which developed in the 1950s. Although these systems succeeded
considerably, they were primarily designed as linear actuators. The second key development occurred
in the 1980s when Suzumori introduced simple elastomer-based actuators. These early systems bore
striking similarities to contemporary soft devices, highlighting Suzumori's pioneering recognition of the
potential within soft robotics [3-4].
Recent advancements in soft pneumatic actuators have introduced novel geometrical parameters for
predicting actuation behavior [5]. Researchers have employed finite element analysis and artificial
neural networks to study three distinct soft pneumatic muscle models, achieving high accuracy in
predicting pressure values for specified positions [6]. Additionally, simple pneumatically actuated
modular robots have demonstrated the ability to mimic various cellular behaviors and facilitate self-
reconfiguration [7]. In the context of marine biology, soft robotics has shown considerable promise,
particularly in applications involving deep-sea organisms. Soft robotic manipulators have been tested
at depths of up to 2224 meters, enabling the investigation and interaction with fragile deep-sea species.
For instance, soft robotic grippers have successfully grasped delicate animals such as goniasterids and
holothurians, which are notoriously difficult to collect without causing damage when using rigid
mechanical arms [8-9]. Furthermore, soft pneumatic actuators offer solutions to environmental
challenges posed by certain seaweed species that negatively impact coral reefs through the release of
hydrophobic allelochemicals. Traditional management methods for this issue are often labor-intensive
and can lead to adverse environmental effects [10].

Innovative designs, such as origami-based elastomeric actuators and soft grippers controlled by hand
gestures recognized through machine learning algorithms, have also emerged [11]. These systems
feature lightweight structures that require less pressure for bending compared to conventional actuators,
and their control and gripping capabilities have been validated through experimental studies. Notably,
a gesture recognition algorithm utilizing electromyogram signals has been developed for precise gripper
control [12]. Collectively, this body of research underscores the significant potential of these
technologies in enhancing robotics and improving human-machine interaction [13]. The field of
continuum robotics is advancing rapidly, driven by innovations in kinematic structures, control
strategies, and locomotion principles. These developments have led to the emergence of new types of
sensors and sensing methodologies, which can be categorized into shape perception and environmental
perception [14-15].
One notable type of soft robot combines soft-body grasping with crawling locomotion to navigate
tubular objects, drawing inspiration from the natural climbing locomotion of snakes. This design
features proximal and distal modules that enable radial expansion and contraction, as well as
longitudinal contractile-expandable movements [16]. A modular soft actuator inspired by snakeskin can
generate anisotropic friction forces, allowing soft robots to traverse various surfaces in natural
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environments without the need for additional connectors or multiple pneumatic pumps [17]. The design
integrates precise connections and snake-scale structures within a single pneumatic modular actuator
unit. Experimental results demonstrate that these soft robots can effectively navigate flat terrain, tubes,
inclined paths, and water while enabling the delivery of objects weighing up to 2.5 times the weight of
the robot itself [18]. To enhance the performance of grasping, the incorporation of rigid support within
soft robotic grippers has been explored. This approach can increase the lifting force of the soft gripper
by over 150% under the same pressure (26 kPa), although it limits the size of the grasped object to be
smaller than the diameter of the support [19-20]. In contrast to traditional robots, which rely on precise
kinematic models for motion planning, soft robots exhibit distinctive behaviors characterized by
adaptability and responsiveness to their environments [21]. While conventional robotics benefits from
established kinematic models, these models are not directly applicable to soft robotics due to the
intrinsic flexibility and deformability of soft materials. Therefore, there is an urgent need to develop
specialized kinematic models tailored specifically to the requirements of soft robotics [22]. Such models
must accommodate the compliant nature of these robots, enabling accurate prediction and control of
their movements [23].
Soft robotic fingers are manufactured using molding and three-dimensional printing techniques, and
experimental results reveal their capability to manipulate a diverse range of objects with varying shapes
and weights [24]. Additionally, rehabilitation fingers offer safe assistance to humans in two operational
modes, while artificial hands demonstrate the ability to perform various gestures [25]. The primary
objective of designing soft actuators is to facilitate the delicate conveyance of items and navigation in
complex environments. Traditionally, such applications necessitate careful handling due to the fragility
of the objects involved. The soft actuator presented in this research utilizes a novel construction method
that involves weaving tubes into twill patterns [26]. This innovative design allows the actuator to
generate traveling waves on its surface by sequentially pressurizing the tubes. Notably, the fabrication
process does not depend on specialized molds, thereby enhancing cost efficiency [27].
Soft robots have been extensively studied for their deformable, flexible, and adaptive characteristics
[28]. However, compared to rigid robots, soft robots face significant challenges in modeling, control,
and calibration. The inherent properties of soft materials often result in complex behaviors characterized
by non-linearity and hysteresis [29]. To address these challenges, recent studies have increasingly
applied machine learning techniques to develop more effective solutions [30]. A pneumatically actuated
quadruped robot featuring soft-rigid hybrid rotary joints has been developed, drawing inspiration from
natural musculoskeletal systems. This design emphasizes the mechanical integration of the robot with
minimal onboard electronics. A joint-level PID controller facilitates motion control, allowing for the
investigation and design of various gait patterns [31]. Proof-of-concept prototypes have been
constructed and tested, demonstrating the robot's capabilities for locomotion through trotting and
walking gaits. The robot shows significant potential for applications in extreme environments, owing
to its simplified motion control, size scalability, and enhanced movement speeds compared to traditional
soft-legged robots [32-33].
Soft robots employ flexible materials such as elastomers and silicone rubber, enabling versatile and
adaptable movements. This innovative approach facilitates interactions with complex and delicate
objects, as well as navigation in unstructured environments [34]. The absence of rigid components and
complex linkages streamlines the design process and enhances safety during human-robot interactions
[35]. Recent advancements in soft pneumatic actuators have introduced a new geometrical parameter
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for predicting actuation behavior. Utilizing finite element analysis and artificial neural networks,
researchers have studied three distinct soft pneumatic muscle models, achieving high accuracy in
predicting pressure values for desired positions [36]. Soft robotics represents a burgeoning area of
research that holds the potential to transform the roles of robots in both societal and industrial contexts
[37]. Despite its promising prospects, the field remains relatively nascent. A literature review indicates
that the term "soft robot" was originally used to describe rigid pneumatic structures exhibiting some
degree of compliance due to gas compressibility. Over time, the definition has evolved to encompass
robots and similar systems constructed from rigid materials that possess varying levels of compliance
[38].
Despite the significant advancements in soft robotics, particularly in the design and application of
soft pneumatic actuators, several critical gaps remain in the literature. First, while previous studies have
explored various geometrical parameters affecting the performance of soft actuators, there is a limited
comprehensive analysis focusing specifically on the optimization of design variables in 2-DOF soft
pneumatic grippers. Existing research often examines individual parameters in isolation, neglecting the
complex interactions between multiple design variables that can significantly influence actuator
performance. Additionally, many studies utilize conventional optimization techniques, which may not
fully capture the non-linear behaviors exhibited by soft materials under varying operational conditions.
This oversight limits the predictive accuracy of current models and hinders advancements in the design
of soft grippers capable of delicate manipulation tasks. This research aims to address these gaps by
systematically exploring the interdependencies among design variables, ultimately contributing to
developing more efficient and versatile soft pneumatic grippers.

2. Design Variables in CAD Model and characterization of material

2.1.Design Variables in CAD Model

The study focuses on the design of a soft pneumatic actuator (SPA) double serial finger, meticulously
crafted using SOLIDWORKS CAD software, to explore how various geometric parameters influence
its bending envelope under operational pressures ranging from 110 to 190 kPa in each chamber. A
central design variable is the angle of teeth (β), which is systematically varied while keeping the number
of teeth constant at four per finger; this variation is critical as it directly impacts the actuator's flexibility
and its ability to conform to a wide range of object shapes, potentially enhancing its grasping efficiency.
Additionally, finger width (wf) is another important parameter, as it determines the gripping surface
area and influences the precision with which the actuator can manipulate objects; a wider finger may
provide more contact area for larger objects but could limit dexterity for finer tasks. The air chamber
height (H) plays a significant role as well, affecting the actuator's volume and the amount of air it can
contain, which in turn influences the force output and response time of the actuator when pressurized.
The pitch (P), or the distance between consecutive teeth, is also crucial, as it affects the bending
behavior; a larger pitch may result in a smoother bending profile, while a smaller pitch can enhance
precision and control. Furthermore, the thickness of the wall (tw) is a vital variable that influences the
actuator's structural integrity and flexibility; thicker walls may provide added strength but can restrict
the actuator's deformation capabilities, necessitating a careful balance between durability and
adaptability. The distance between teeth (Dt) is another key factor, affecting the overall bending
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dynamics and the synchronization of movements between fingers, allowing for more intricate
manipulation tasks. Finally, the base thickness (tb) contributes to the actuator's stability and anchoring
during operation; a thicker base may enhance strength but could also add weight, impacting
performance. Through systematic analysis of these design variables, the study aims to identify optimal
configurations that enhance the actuator's performance in delicate manipulation tasks, thus contributing
valuable insights into the design and optimization of soft robotic systems for various applications. The
morphology of the soft pneumatic actuator (SPA) designed is shown in Fig. 1. Table 1 shows the
parameters used to make a design of a soft pneumatic actuator (SPA) double serial finger.

Fig. 1. Morphology of the soft pneumatic actuator (SPA) designed using computer-aided
design (CAD) software SOLIDWORKS

Table 1. The parameters used to design of a soft pneumatic actuator (SPA)

𝒕𝒘 (mm) P(mm) H(mm) β(˚) 𝒕𝒃 (mm) 𝑫𝒕 (mm) 𝒘𝒇 (mm) P1(Kpa) P2(Kpa)

110 110
120 120
130 130
140 140
3 22 30 0,5,10,15 10 30 150 150
1 160 160
170 170
180 180
190 190

2.2. Characterization of Material

The physical and mechanical properties of materials are paramount in evaluating their influence on
the performance of actuator geometries in practical applications. The silicone material employed for the
fabrication of the soft gripper is designated as Yeoh 3rd-order, a hyper-elastic material characterized by
exceptional flexibility and elasticity. This specific silicone rubber is extensively utilized within the soft
robotics domain due to its superior mechanical properties, including high elongation at break, significant
tear strength, and excellent resistance to aging and environmental degradation. To comprehensively
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assess the physical and mechanical properties of Yeoh 3rd-order silicone and its implications for
actuator performance, a systematic material characterization process was conducted. This process
included a suite of rigorous testing methodologies, such as tensile testing, compression testing, and
hardness testing. The results obtained from these evaluations provided critical parameters, including the
material's elastic modulus, Poisson's ratio, and other essential characteristics that govern its behavior
under varying loading conditions.
Table 2 summarizes the stress-strain relationship of Yeoh 3rd-order silicone. A thorough examination
of these material properties is essential for the effective design and optimization of actuator geometries,
as it facilitates the selection of appropriate material parameters and design features to enhance
performance and durability. Furthermore, the material characterization process elucidates the
limitations and challenges associated with the utilization of hyper-elastic materials in soft robotics,
thereby equipping researchers and designers with the knowledge necessary to overcome these
challenges and advance the development of more sophisticated and efficient soft robotic systems
capable of executing complex tasks in dynamic environments.

Table 2 Elastomer Sample (Yeoh ) > Uniaxial Test Data

Strain mm mm^-1 Stress MPa

1.8265e-002 0.1348
0.2208 0.26702
0.8284 0.63097
1.274 0.99385
1.7843 1.488
2.0922 1.8664
2.5945 2.5078
3.0563 3.1162
3.2588 3.3956
3.5342 3.7574
3.6476 3.9218
3.8097 4.1028
4.0041 4.3822
4.1418 4.5467
4.211 4.6112
4.2714 4.6785
4.3606 4.7609
4.4416 4.8432
4.5307 4.942
4.6441 5.0736
4.7494 5.1725
4.8547 5.2877
4.9277 5.37
4.9763 5.403
5.0249 5.3052
5.0411 5.1907
5.0735 5.0437
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3. Finite element

Finite element analysis (FEA) is a powerful computational tool utilized to simulate and analyze the
mechanical behavior of the soft pneumatic actuator, specifically the double serial finger design. This
analysis employs a hex-dominant meshing technique, integrating both triangular (tri) and quadrilateral
(quad) element types. This hybrid approach is particularly advantageous, as it allows for a high degree
of flexibility in capturing the intricate geometries of the actuator while ensuring that the mesh remains
well-structured in regions of interest. The mesh size selected for this FEA is 2 mm, a choice made after
a thorough evaluation of various mesh sizes ranging from 1 to 5 mm. This evaluation involved running
preliminary simulations to assess the convergence of solutions and the accuracy of results relative to
computational costs. By selecting a 2 mm mesh size, a balance was achieved between computational
efficiency and solution precision, allowing for the accurate representation of the actuator's deformation
characteristics while keeping processing times manageable. The convergence at this mesh size indicates
that the model is sufficiently refined to capture critical aspects of the actuator's performance under
operational conditions.

To ensure the realism of the simulation, frictional contact has been implemented to prevent
interpenetration between the inner and outer surfaces of the actuator during the application of
atmospheric pressure. This frictional contact model simulates the physical interactions that occur
between surfaces, which is essential for accurately predicting the actuator's behavior under load. Figure
2 presents a visual representation of the meshing applied in the CAD model, illustrating the
discretization process used in the FEA. The concept of the work envelope is central to evaluating the
capabilities of the soft gripper, as it defines the maximum reach of the gripper tip within the X and Y
planes. Understanding this envelope is crucial for assessing the actuator's potential in manipulating a
variety of objects, particularly in applications requiring precision and delicacy. To investigate the work
envelope, a fixed support condition is imposed at the initial position of the gripper, ensuring that the
base remains stationary while the fingers are allowed to move freely.

In the simulation, the outer surface of the gripper is subjected to an atmospheric pressure of 1 bar,
effectively simulating real-world ambient conditions that the actuator would encounter. This pressure
is representative of typical environmental forces acting on the actuator, providing a realistic context for
performance evaluation. Moreover, pneumatic pressure denoted as P1, is applied to the inner surface of
the first chamber of the finger, ranging from 110 kPa to 190 kPa in increments of 10 kPa. This range
serves to assess the actuator's performance across varying pressure levels, highlighting its
responsiveness, adaptability, and overall effectiveness in performing tasks. The selection of this
pressure range is critical, as it allows for the exploration of the actuator's capabilities under different
loading conditions. In parallel, a second pneumatic pressure, labeled as P2, is also applied to the inner
surface of the second chamber of the actuator, with the same range of 110 kPa to 190 kPa. This dual-
pressure application provides insights into the interaction effects between the two chambers, enabling a
more comprehensive understanding of the actuator's performance dynamics. By varying both P1 and
P2, the study investigates how these pressures influence the deformation and movement of the gripper,
ultimately contributing to the optimization of its design for enhanced manipulation capabilities.
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Fig. 2. meshing size employed in the FEA 2 mm

The Finite Element (FE) simulation utilizing ANSYS software is conducted to comprehensively
investigate the work envelope of a soft gripper finger. This study specifically examines the effects of
varying the angle of teeth (β) and the applied pressures (P1 and P2) within each chamber of the finger,
providing valuable insights into the gripper's performance under different conditions. The angles of
teeth considered in this analysis are 0°, 5°, 10°, and 15°, while the applied pressures range from 110
kPa to 190 kPa. These pressures are systematically increased in increments of 10 kPa, allowing for a
detailed evaluation of how these parameters influence the actuator's deformation and effectiveness. The
results of the simulation reveal a distinct correlation between the angle of teeth (β) and the total
deformation observed at specific pressure levels. Notably, for the same applied pressure, an increase in
the angle of teeth leads to a corresponding increase in deformation. This finding underscores the critical
importance of adjusting both the angle of teeth and the applied pressure to achieve the desired
deformation behavior, which is essential for optimizing the gripper's ability to manipulate various
objects.

To illustrate the combined impact of varying the angle of teeth (β) and the applied pressures across the
range of 110 to 190 kPa, Figure 3 presents a visual representation of the evolution of the work envelope.
This figure depicts how changes in the angle of teeth and the maximum applied pressure in each
chamber, particularly at the upper limit of 190 kPa, affect the reach and functionality of the gripper. The
visualization provided by Figure 3 highlights the dynamic relationship between the geometric
configuration of the gripper and the operational pressures, emphasizing the significance of these
parameters in determining the overall performance of the soft actuator. As the angle of teeth increases,
the work envelope expands, indicating greater versatility in grasping and manipulating objects. This
comprehensive analysis not only enhances the understanding of the actuator's behavior but also informs
future design optimizations, guiding the development of more efficient soft robotic systems capable of
performing complex tasks across diverse applications.
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Fig. 3. The FEA simulation results of soft pneumatic actuators (SPAs) under different angles
of teeth(β) values and applied pressure (p).

4. Results of Simulation Analysis of Soft Gripper

This section presents a detailed examination of the impact of pressure variations on the total
deformation of a Soft Gripper by focusing on different values of the variable β. Specifically,
we analyze the deflections along the X and Y axes. These deflections have been computationally
analyzed utilizing the ANSYS software package, which allows for an in-depth visualization of
the gripper's response through two-dimensional graphical representations. The study
specifically investigates how the Soft Gripper behaves under variable conditions of the
parameters β and pneumatic pressures (denoted as P1 and P2) while maintaining constant values
for the thickness (Tw), height (H), and another pressure parameter (P). The data set analyzed
comprises 81 distinct points, each represented in a graphical format to clearly illustrate the
variations in total deformation alongside the displacements observed in the X and Y directions
corresponding to different values of β. The parameter β is systematically varied throughout the
course of the simulations, beginning at a value of zero degrees and increasing in increments of
5, reaching a maximum value of 15. This methodical increase allows for a controlled study of
the mechanical response of the gripper under different structural configurations. Meanwhile,
the pressure values are explored within a range extending from 110 kPa to 190 kPa, providing
a comparative view of the effects of differential pressurization on each chamber within the
gripper's finger.
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4.1. Deflection on the X-axis (X)

The relationship between the absolute deformation along the X-axis of the Soft Gripper and the
applied pressures for different values of the stiffness parameter β is comprehensively depicted in the
provided figure. As illustrated in Fig. 4, the horizontal axis quantifies the applied pressure in
megapascals (MPa), while the vertical axis measures deformation along the X-axis in millimeters
(mm). A clear trend is observed where increasing pressure from 0.11 MPa to 0.19 MPa results in a
linear increase in negative deformation across all values of β (0, 5, 10, and 15). Specifically, for a β
value of 0, deformation remains relatively minimal, ranging from -20 mm at 0.11 MPa to
approximately -30 mm at 0.19 MPa. Conversely, more pronounced deformation is observed as β
increases; at β=5, deformation starts at around -40 mm and descends to about -70 mm; at β=10, it
begins near -60 mm and stretches down to -100 mm; and at β=15, it starts at approximately -80 mm,
reaching nearly -120 mm by 0.19 MPa. This data highlights that higher β values mitigate the
negative deformation impact, with the curve for β=15 showing the least deformation, thus indicating
that β plays a crucial role in reducing the negative effects of increased pressure on deformation.
These results underscore β as a critical factor that significantly enhances the sensitivity of the gripper
to pressure changes, influencing the mechanical compliance and deformation characteristics of the
Soft Gripper. The consistent and predictable linear trends across the range of pressures and β values
are advantageous for designing control systems in robotic applications where precise deformation
control is essential.

Fig 4. The relationship between absolute deformation on the X-axis and the applied pressure
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4.2. Deflection on Y-axis (Y)

The experimental analysis reveals significant insights into the deflection behavior along the
Y-axis of the Soft Gripper, as depicted in Fig. 5. This graphical representation elucidates the
relationship between absolute deformation on the Y-axis and the applied pressure, where the
horizontal axis measures pressure in megapascals (MPa) and the vertical axis records
deformation in millimeters (mm). It is observed that an increase in pressure consistently results
in greater negative deformation (downward deflection) along the Y-axis. The analysis further
indicates that varying the stiffness parameter β influences the magnitude of this deformation.
Specifically, deformation at β=0 shows the least severity, initiating at approximately -80 mm at
0.11 MPa and extending to about -160 mm at 0.19 MPa. As β is increased, a marked increase in
sensitivity to applied pressure is noted. For instance, at β=5, deformation begins at around -70
mm and descends to about -160 mm; at β=10, it starts near -60 mm and extends to approximately
-160 mm; and at β=15, deformation commences at around -60 mm, reaching nearly -160 mm by
0.19 MPa.
The curves corresponding to higher β values are observed to be closer to the horizontal axis,
indicating a reduction in the magnitude of negative deformation. This trend suggests that higher
values of β not only result in an increase in the absolute magnitude of deformation but also
demonstrate a steeper slope in the deformation curves. This behavior underscores the significant
role of β in enhancing the mechanical compliance of the gripper, where higher β values lead to
a more pronounced deformation response under increased pressures. The consistent linear trends
observed across the range of pressures and β values imply a predictable and stable material and
structural behavior under varying operational conditions. These findings are critical for
understanding the mechanical behavior of soft robotic grippers and imply that by adjusting β,
the deformation characteristics of the gripper can be finely tuned to optimize performance for
specific tasks. This is particularly beneficial in applications requiring precise control of gripper
movement and force application. Further investigations into the material properties and
structural dynamics associated with different β values could provide deeper insights into the
design and optimization of soft robotic systems, enhancing their application in complex
environments.

4.3. Deflection on Stress

In the presented Fig. 6, the relationship between the equivalent stress in the Soft Gripper and
the applied pressure for different values of the stiffness parameter β is illustrated. The horizontal
axis, representing the pressure in megapascals (MPa), shows a range from 0.11 MPa to 0.19
MPa, while the vertical axis measures the equivalent stress in megapascals (MPa). It is observed
that as the applied pressure increases, a corresponding increase in the equivalent stress is
exhibited across all values of β (0, 5, 10, and 15). A nonlinear increase in stress is noted as the
pressure is elevated, with all curves demonstrating a relatively flat response at lower pressures
and a steeper increase as pressure approaches 0.19 MPa. The curves for different β values are
closely aligned, indicating that the parameter β has a subtle effect on the equivalent stress
response of the gripper within the tested range of pressures. However, slight variations can be
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discerned; for example, the curve for β=0 shows a marginally lower stress level at higher
pressures, whereas the curve for β=15 indicates the highest stress levels under similar conditions.

Fig 5. The relationship between absolute deformation on the Y-axis and the applied pressure

The close grouping of the curves suggests that while β modifies the stress response, its impact
is less pronounced under lower pressure conditions and becomes slightly more evident as the
pressure reaches the upper limit of the tested range. This behavior may imply that the structural
or material properties associated with different β values begin to play a more significant role as
the operational limits of the gripper are approached. The nonlinear trend observed in the
equivalent stress response indicates that the material properties of the gripper might exhibit
nonlinear characteristics, particularly in terms of stress-strain behavior under high-pressure
scenarios. This finding is crucial for understanding the operational limits and safety margins of
the gripper, as well as for designing control systems that can effectively manage stress within
safe operational boundaries.

Fig 6. The relationship between stress absolute deformation and the applied pressure
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4.4. Deflection on Strain

In illustrated Fig. 7, the relationship between elastic strain and applied pressure across various
values of the stiffness parameter β (0, 5, 10, and 15) is depicted. The horizontal axis quantifies
the applied pressure in megapascals (MPa), ranging from 0.11 MPa to 0.19 MPa, while the
vertical axis measures the elastic strain in millimeters per millimeter (mm.mm^-1). It is observed
that with an increase in pressure, a corresponding increase in elastic strain is exhibited for all β
values. The curves demonstrate a consistent and gradual rise in elastic strain as the pressure is
increased, suggesting a linear relationship between these two variables at lower pressure levels.
As the pressure approaches 0.19 MPa, a noticeable increase in the rate of strain growth is
observed, indicating a possible nonlinear behavior under higher pressure conditions. The curves
for different β values closely align, which suggests that the parameter β has a minimal effect on
the strain response under the given range of pressures.
However, subtle differences are discernible among the curves: the curve associated with β=15
shows a slightly higher strain at the maximum pressure compared to the other curves, implying
that higher β values may confer slightly increased material or structural compliance. Conversely,
the curve for β=0 exhibits the lowest strain across all pressures, indicating a stiffer response to
applied pressures. This close alignment of the curves across the β values suggests that while
adjustments in β influence the mechanical behavior of the gripper, the impact is not pronounced
under the tested conditions. This finding is significant for applications where uniform
deformation characteristics are desirable across a range of stiffness settings. The consistency in
strain response also implies that the material properties of the gripper can maintain structural
integrity under varying stress conditions, which is crucial for the reliability and durability of soft
robotic applications.

Fig 7. The relationship between elastic strain absolute deformation and the applied pressure

This section has systematically explored the mechanical response of a Soft Gripper to
variations in applied pressure and the stiffness parameter β through detailed simulation analysis
using the ANSYS software package. The behavior under different structural configurations and
operational conditions was quantitatively assessed, with data covering a comprehensive range
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of pressures from 110 kPa to 190 kPa and β values from 0 to 15 presented across four distinct
figures. These figures (fig. 4, fig. 5, fig. 6, fig.7) illustrated critical aspects of the gripper's
deformation and stress characteristics.
Key findings from the simulations include the significant influence of both pressure and β on
deformation along the X and Y axes, where increases in pressure consistently resulted in greater
deformation, more pronounced at higher β values. This suggests β significantly influences the
gripper's sensitivity to pressure changes, enhancing its mechanical compliance and ability to
adapt to varying load conditions. The analyses of equivalent stress and elastic strain revealed a
nonlinear increase as pressures approached the upper limit of the tested range, with subtle
variations among different β values suggesting higher β values might offer slightly better
compliance and capacity to withstand operational stresses. The material properties of the gripper
demonstrated consistent and predictable responses across all tests, indicating that design
parameters can be finely tuned to optimize performance for specific applications. The observed
linear and nonlinear behaviors under different conditions provide valuable insights into the
operational limits and safety margins, essential for designing robust and reliable soft robotic
systems.

5. Conclusions

This research presents an advanced design of pneumatic network (pneu-net) actuators capable
of achieving a broad range of deflections by altering structural parameters. The influence of
these parameter modifications on actuator deflection was rigorously analyzed through finite
element analysis (FEA) using the ANSYS software suite. The FEA simulations
comprehensively assessed deflections along the X-axis and Y-axis, as well as variations in stress
and elastic strain under a spectrum of pressures ranging from 110 kPa to 190 kPa. The angle of
the actuator teeth (β) was systematically varied from 0˚ to 15˚ in increments of 5˚. The primary
objective of this analysis was to elucidate the effects of the β parameter on the mechanical
behavior of a flexible air finger, with a particular focus on the deflection behaviors of the Soft
Gripper in the X and Y directions, and stress and elastic strain characteristics. Results indicate
that as the β value increases, there is a corresponding increase in deflection for both the X and
Y axes, suggesting that the material undergoes more significant deformation in response to the
same applied pressure. Notably, the influence of β on deformation appears more pronounced on
the Y-axis, indicating a preferential increase in vertical deformation as β increases. Furthermore,
the analysis of equivalent stress reveals that higher β values correlate with increased stress levels,
implying that the material exhibits greater internal resistance to deformation as β escalates.
Similarly, an increase in β is associated with heightened elastic stress, suggesting a direct
proportionality with the increase in applied pressure. The exploration of varying chamber angles
and their impact on the behavior of pneumatic actuators is vital for advancing our understanding
of such systems. Our findings indicate a substantial increase in both X and Y axes deflections
in response to incremental increases in β, with a particularly pronounced 28% increase in vertical
deflection along the Y-axis at the maximum β value. This sensitivity to β changes highlights the
potential for geometric optimization in actuator design, especially where precise vertical
movement is crucial. Additionally, the stress analysis revealed that higher β values lead to a 20%
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increase in peak stress distribution and a corresponding 22% rise in elastic strain, suggesting a
stronger internal resistance to deformation and a direct correlation with increased pressure
resistance. By integrating these findings with mathematical modeling and simulation tools, it
becomes possible to develop predictive models that accurately forecast the performance of
pneumatic actuators under various operational conditions. This study not only enhances our
theoretical knowledge but also provides a practical framework for the design and optimization
of flexible actuators to meet specific application requirements.

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