Recently, multi-dimensional soft pneumatic actuators (SPAs) have become a nascent topic in the field of soft robotics. Soft robotic pad (SRP), as the first genuine 2D SPA, has been created to have programmable surface morphing capability and scalable force output, and thus utilized in a few applications. In the early stage of SRP development, its inconsistent strength has been the biggest issue for its applications as it sometimes breaks upon low pressure, and thus fails to produce sufficient force and motion. In this paper, the optimization of the SRP is presented in terms of the inner fiber pattern design which plays an important role in the SRP strength. With the SRP structure illustrated, and the failure mechanism explained and modeled, the overall optimization scheme is introduced and implemented through a series of failure tests and the final optimization program. The efficacy of the optimization is verified through further failure tests and prove that, with the optimized fiber pattern parameters, the SRPs can be operated safely for different applications without the concern about break. SRP with its smart structure and unique capability has become a new member of the SPA family and also pushed the boundary of soft robot.

近年来，多维软气动执行器（SPA）已成为软机器人领域的新兴话题。作为第一个真正的2D SPA，软机器人垫（SRP）已被创建为具有可编程的表面变形功能和可伸缩的力输出，因此可在一些应用中使用。在SRP开发的早期，其强度不一致一直是其应用中的最大问题，因为它有时会在低压下破裂，从而无法产生足够的力和运动。在本文中，通过内部纤维图案设计对SRP进行了优化，该图案在SRP强度中起着重要作用。通过说明SRP结构，并解释和建模故障机制，通过一系列的故障测试和最终的优化程序，介绍并实施了总体优化方案。通过进一步的故障测试验证了优化的有效性，并证明了通过优化的光纤图案参数，SRP可以安全地用于不同应用，而无需担心断裂。SRP凭借其智能的结构和独特的功能已成为SPA系列的新成员，也推动了软机器人的发展。