Pneu-net soft actuators, consisting of pneumatic networks of small chambers embedded in elastomeric structures, are particularly promising candidates in the society of soft robotics. However, there are few studies on the analytical modeling of pneu-net soft actuators, especially in the three-dimensional space. In this article, based on the minimum potential energy method and the continuum rod theory, we propose an analytical model and corresponding design approach for a class of generalized pneu-net soft actuators (gPNSAs) with both bending and twisting deformations by combining the geometric complexity and material elasticity. We experimentally verify our modeling approach and finally investigate the effects of geometric parameters, material properties, and external force on the deformations of gPNSAs, which can be used as a tool for the design of gPNSAs. We further demonstrate that our developed model can predict the deformations of gPNSAs made of multiple materials.

中文翻译：

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具有三维变形的广义 Pneu-Net 软执行器的分析建模与设计

Pneu-net 软执行器由嵌入弹性体结构的小腔气动网络组成，是软机器人领域特别有前途的候选者。然而，关于 pneu-net 软执行器的分析建模的研究很少，特别是在三维空间中。本文基于最小势能法和连续杆理论，结合几何复杂性，提出了一类具有弯曲和扭转变形的广义气动网络软执行器（gPNSA）的解析模型和相应的设计方法。和材料弹性。我们通过实验验证了我们的建模方法，最后研究了几何参数、材料特性和外力对 gPNSA 变形的影响，它可以用作设计 gPNSA 的工具。我们进一步证明，我们开发的模型可以预测由多种材料制成的 gPNSA 的变形。