Soft actuators that have a bellows structure are favorable candidates for robots designed to interact with humans. However, a weak point in the actuator can occur as a result of deformation from the driving pressure. In this study, a simulation analysis of a soft bellows actuator composed of ethylene-vinyl acetate copolymer molding was conducted. The mechanical characteristics along different latitudes of the bellows in the soft actuator were evaluated using finite element modeling and analysis. Functional performance was studied during both compression and inflation using two driving methods (constant pumping rate-driven and constant displacement-driven). To validate the simulation, experimental tests were performed on a version of the soft bellows actuator that was constructed according to the same specifications as the model version; simulation and experimental displacements in relation to air pressure were compared. The results showed points near the trough were more likely to experience the largest stress during inflation and may suffer critical structural damage. During compression, points near the crest were more easily damaged. Stress variation showed good symmetry at points of interest on either side of the trough, during both inflation and compression. These findings provide a basis for precise control of and design improvements to soft bellows actuators for human-friendly usage.

具有波纹管结构的软执行器是设计用于与人互动的机器人的理想选择。然而，由于驱动压力的变形，致动器中可能会出现薄弱点。在这项研究中，对由乙烯-乙酸乙烯酯共聚物模制而成的软波纹管执行器进行了仿真分析。使用有限元建模和分析评估了软执行器中波纹管沿不同纬度的机械特性。使用两种驱动方法（恒定泵速驱动和恒定排量驱动）研究了压缩和充气过程中的功能性能。为了验证仿真效果，对根据与模型版本相同规格构造的软风箱执行器进行了实验测试；比较了与空气压力有关的模拟和实验位移。结果表明，低谷附近的点更有可能在通货膨胀期间承受最大应力，并且可能遭受严重的结构破坏。在压缩过程中，波峰附近的点更容易损坏。在膨胀和压缩过程中，应力变化在波谷两侧的感兴趣点都显示出良好的对称性。这些发现为精确控制和改进软风箱执行器提供了基础，以供人类使用。在膨胀和压缩过程中，应力变化在波谷两侧的感兴趣点都显示出良好的对称性。这些发现为精确控制和改进软风箱执行器提供了基础，以供人类使用。在膨胀和压缩过程中，应力变化在波谷两侧的感兴趣点都显示出良好的对称性。这些发现为精确控制和改进软风箱执行器提供了基础，以供人类使用。