A finite element analysis on the upshot of side tapper geometry of soft robotic gripper

PneuNet Soft Pneumatic Actuators (SPA's) have attracted substantial attention in recent years, because of their Pliability and the security they have with users regularly. This research looks at how tweaking the taper pitch parameter (which is limited to 0°, 2°, and 6°) affect the entire performance of the soft robotic actuator, especially the breadth of the SPA falling back to the head with a trapezoidal foot tip. The objective of this research is to utilize finite element techniques (Static structural) to evaluate the performance of distinct geometric forms such as rectangles, half-rounds, honeycombs, and a hump while the inscribing length, breadth, and height of all models kept within the same dimension. Bending angle, displacement, and blocked force are the most important valuing characteristics assessed on these PneuNet models on behalf of two hyper elastic materials such as silicon rubber M4801 and Eco flex 00-30. As a conclusion of this investigation, it was revealed that all of the 2-degree versions outscored the other tapered variants. Furthermore, a linear correlation between the bending angle and the applied pressure is maintained with the 2 degrees design.