Design and Finite Element Analysis of a Thin Cross-Section Soft Continuum Manipulator

Soft continuum robots and manipulators (SCRaMs) are mechanisms having elongated bodies. Most SCRaMs employ a thick cross-section body which constrains their maximum bending ability. This paper presents the design of a soft continuum manipulator employing a thin body cross-section. The manipulator’s modular design consists of three sections to facilitate maintenance and parts replacement. The manipulator’s critical components were tested through finite element analysis (FEA) to validate their performance under stress during operation. The results indicated a maximum stress value of 5.35 e+06 N/m2, representing 14.5% of the intended fabrication material’s tensile strength (ABS), and the maximum deformation displacement was only 0.74 mm. The presented design and testing results pave the way for the development and use of the manipulator for future applications.