Optimal Structure and Size of Multi-segment Soft Robotic Arms with Finite Element Method

Pneumatic actuate of multi-segment soft robotic arm is a significant structure and has extensive applications. However, the study of the optimal structure and size of multi-segment soft robotic arm has not been achieved. In this study, the finite element method is used to optimized the structure and size of soft robotic arm. We report that the two-segment structure of soft robotic arm has better performance for the general manipulator operation task through evaluating bending angles with different structures and parameters. The optimal ratio of the total length of non-cavity section to the total length of the soft robotic arm with two-segment is 0.21. And soft robotic arm performs better when the length of the fixed first section, the linkage section between two cavity sections and the end section are equal. Two cavities in each segment has more advantages in tasks of plane bending, while three cavities structure has better adaptability when the task need bend in the space. These results in this study provide a reference and simplify the process for the structure and size design of the multi-segment soft robotic arm in the future