Description
Origami-inspired soft pneumatic actuators are gaining attention thanks to their stability and reinforcement through force distribution due to their design achieving linear, radial, or bending motion. Nevertheless, limited research has been conducted in this field that offers simple designs and fabrication processes with deep observation on how the values of the independent design parameters affect their performance and how we can tune them to meet specific requirements. In this way, our research focuses on building a sensitivity analysis of the main parameters that define the basic structure of a soft pneumatic actuator. We use the Yoshimura pattern focusing on the desired displacement (linear, bending), the force of the structure, and space limitation to fabricate the systems using 3D printer technology for a one-step process. This paper concludes with a sensitivity analysis to use as a guide to fabricate functional actuators and presents two successful cases where the analysis proves its feasibility.
