Optimized Design and Fabrication of a Soft Pneumatic Crawling Robot for Cost-Effective Motion Control

Soft robots have wide-ranging applications in fields such as healthcare, search and rescue, and industrial automation due to their adaptability and safety in interacting with complex environments. This study presents the design, simulation, and fabrication of a cost-effective pneumatic soft crawling robot. The robot features a two-chamber semicircular actuator optimized using FEA and decision matrices to balance actuation performance, material costs, and structural performance, achieving a safety factor of 5.7 under maximum pressure. The soft actuator's geometry and parameters, such as wall thickness and module diameter, were analyzed to enhance robot actuation. The robot is equipped with suction cup feet and relies on pressurized air for movement, controlled via syringes. Prototypes were fabricated using 3D-printed molds and soft silicone rubber, followed by testing to evaluate experimental results. The actuator achieves a max bending angle of 38 degrees and max strain ratio of 25%, indicating an efficient bending and elongation with high reliability. Future work involves refining actuation systems using solenoid valves and air pumps, addressing friction challenges in suction feet, and exploring advanced multi-chamber designs to improve mobility and adaptability for various applications.