Publications

Abstract : Two major factors affect the properties exhibited by a Soft Pneumatic Actuator (SPA): material and design. Corrugations are grooves or ridges that enhance the flexibility of the actuator and a variation in the shape and size of the corrugation varies the deflection exhibited by the actuator thus necessitating a study on the same to determine the parameters for design to optimize deflection. This paper designs and analyses of asymmetric bellow flexible pneumatic actuators (ABFPA) and the relationship between corrugation and corresponding deflection. Four shapes viz. square, semi-circle, trapezoid and triangle are preferred, and the optimum model and the results and manufacturing process are discussed.