In order to improve the bearing capacity of soft actuators, this article presents the development of the rigid-hoop-reinforced (spring or steel hoop) multi-DOF soft actuator. The actuator is composed of a rotary module with spring reinforcement on the silicone rubber-based body and a bending module with steel hoop reinforcement on the body. Compared with fiber-reinforced actuators, the bearing capacities of rigid-hoop-reinforced actuators made of 65Mn spring steel are improved. The radial and the axial bearing capacity for the bending module and the rotary module is raised by 29.6%, 28.2%, 30.6%, 49.6% respectively; under the same pressure, the spring-reinforced interval increases the maximum rotary angle of the rotary module, the steel hoop-reinforced interval increases the maximum bending angle of the bending module; with the same reinforcement type, the bending module with reinforcement interval of 10 mm has good bending characteristics that the bending angle changes with the pressure gently; the lower the hardness of silicone rubber base body, the better the adaptability and flexibility of the actuator, and the higher the hardness, the greater the bearing capacity of the actuator. Due to the above advantages, the rigid-hoop-reinforced multi-DOF soft actuator can be applied to medical devices which need high load-carrying capacity.

为了提高软执行器的承载能力，本文介绍了刚性箍增强（弹簧或钢箍）多自由度软执行器的开发。执行器由在硅橡胶基体上带有弹簧加强件的旋转模块和在主体上带有钢箍加强件的弯曲模块组成。与纤维增强执行器相比，65Mn弹簧钢制成的刚性环箍增强执行器的承载能力有所提高。弯曲模块和旋转模块的径向和轴向承载能力分别提高了29.6%、28.2%、30.6%、49.6%；在相同压力下，弹簧加强间隔增大了旋转模块的最大旋转角度，钢箍加强间隔增大了弯曲模块的最大弯曲角度。在相同的钢筋类型下，钢筋间距为10mm的弯曲模块具有良好的弯曲特性，弯曲角度随压力变化平缓；硅橡胶基体的硬度越低，执行器的适应性和灵活性越好，硬度越高，执行器的承载能力越大。由于上述优点，刚性箍筋增强型多自由度软致动器可应用于需要高承载能力的医疗器械。执行器的承载能力越大。由于上述优点，刚性箍筋增强型多自由度软致动器可应用于需要高承载能力的医疗器械。执行器的承载能力越大。由于上述优点，刚性箍筋增强型多自由度软致动器可应用于需要高承载能力的医疗器械。