SUMMARYThe soft actuator is made of superelastic material and embedded flexible material. In this paper, a kind of soft tube was designed and used to assemble two kinds of pneumatic soft actuators. The experiment and finite element analysis are used to comprehensively analyze and describe the bending, elongation, and torsion deformation of the soft actuator. The results show that the two soft actuators have the best actuation performance when the inner diameter of the soft tube is 4 mm. In addition, when the twisting pitch of the torsional actuator is 24 mm, its torsional performance is optimized. Finally, a device that can be used in the production line was assembled by utilizing those soft actuators, and some operation tasks were completed. This experiment provides some insights for the development of soft actuators with more complex motions in the future.

中文翻译：

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气动软执行器的设计与试验

发明内容软致动器由超弹性材料和嵌入式柔性材料制成。本文设计了一种软管，用于组装两种气动软执行器。通过实验和有限元分析对软执行器的弯曲、伸长和扭转变形进行综合分析和描述。结果表明，当软管内径为4 mm时，两种软执行器的执行性能最好。此外，当扭转执行器的扭转节距为 24 mm 时，其扭转性能得到优化。最后，利用这些软执行器组装了一个可以在生产线上使用的设备，并完成了一些操作任务。