Design, Modeling, and Characterization of 3D Printed Soft Pneumatic Actuator Using TPU 60A

Soft robots are gaining attention as a potential replacement for rigid systems to guarantee safe human-robot interactions. 3D printing is considered one of the common manufacturing methods for soft pneumatic actuators due to its effectiveness and flexibility. This research introduces the design for a 3D-printed soft pneumatic bending actuator, material characterization, and 3D printing parameter optimization of flexible material with 60A shore hardness. The actuator performance is investigated using Finite Element Analysis (FEA) based on the mechanical characterization of the 3D-printed soft material. The simulation results are verified through an experimental test setup. The actuator achieved a bending angle of 214 degrees and a blocked force of 0.35 N at a pressure of 100 kPa. The proposed actuator is cost-efficient, air-tight, fabricated in single-step, and robust which can be utilized in several applications like assisted pneumatic gloves and soft pneumatic grippers.