Description
Origami-inspired soft pneumatic actuators are a promising approach to designing lightweight components that can be easily scaled. Research has indicated how specific parameters that define the patterns significantly affect their stiffness and motion ratio. Successful optimization of these parameters has been demonstrated to fulfill requirements such as specific contraction ratios. However, limited attention has been given to how these parameters influence in their axial stability of these motions. Thus, in this paper, we analyzed how changing parameters such as the length of the layers and thickness of the structures affect the axial stability of the motion. Furthermore, we examined how the performance and the axial stability of the motion are affected by connecting multiple layers in series.
