For good adaptability and simple actuation, soft pneumatic actuators (SPAs) are increasingly used as fingers to make adaptable grippers. Due to low stiffness, the application of pneumatic grippers is mostly limited to the power grasp, while the precision (pinch) grasp has not been well studied. Although the SPA stiffness can increase with the pressure, low working pressure is required to ensure safe interaction with human. To address the stiffness issues and achieve a comprehensive performance improvement, the SPA finger design should be optimized. Focusing on dominant grasp indices, we propose analytical models to predict the bending pressure, tip force, distributed force, and torsional stiffness of a high-performance corrugated SPA Optimization is established based on the analytical models considering the daily grasps of the human hand. Accuracy of the models are verified with finite element simulations and physical experiments. The optimum fingers satisfy the optimization constraints on bending pressure, force, and twisting (out-of-plane bending). To evaluate the fingers performance in practice, a two-fingered gripper is made. Heavy loads up to 350g and 830g were successfully manipulated by pinch and power grasps respectively with the pressure below 50 kPa, which suggests a wider application for SPA grippers. Proposed modeling and optimization approaches are accurate and efficient, and have a high potential to prompt the applications of corrugated SPAs.

为了具有良好的适应性和简单的驱动方式，越来越多地使用软气动执行器（SPA）作为手指来制造可适应的抓手。由于刚度低，气动抓爪的应用主要限于动力抓持，而对精确（捏）抓持的研究尚未深入。尽管SPA的刚度会随压力而增加，但仍需要较低的工作压力以确保与人的安全交互。为了解决刚度问题并实现全面的性能改进，应该优化SPA指状件的设计。针对主要抓地力指标，我们提出了分析模型来预测高性能波纹SPA的弯曲压力，尖端力，分布力和扭转刚度。基于分析模型，建立了考虑人手日常抓握的优化模型。通过有限元模拟和物理实验验证了模型的准确性。最佳手指可满足有关弯曲压力，力和扭曲（平面外弯曲）的优化约束。为了在实践中评估手指的性能，制作了两个手指的抓手。压力低于50 kPa时，分别通过捏紧和抓紧力分别成功地操纵了重达350g和830g的重物，这表明SPA抓手的应用更加广泛。拟议的建模和优化方法准确有效，并且具有促进瓦楞纸SPA应用的巨大潜力。为了在实践中评估手指的性能，制作了两个手指的抓手。压力低于50 kPa时，分别通过捏紧和抓紧力分别成功地操纵了重达350g和830g的重物，这表明SPA抓手的应用更加广泛。拟议的建模和优化方法准确有效，并且具有促进瓦楞纸SPA应用的巨大潜力。为了在实践中评估手指的性能，制作了两个手指的抓手。在压力低于50 kPa的情况下，分别通过捏紧和抓紧力分别成功地操纵了重达350g和830g的重物，这表明SPA抓手的应用更加广泛。拟议的建模和优化方法准确有效，并且具有促进瓦楞纸SPA应用的巨大潜力。