Modularized soft pneumatic actuators (SPAs) can flexibly achieve various actuation modes by using a series of modules. However, existing modules are generally composed of single materials, and may perform limited actuation modes. To achieve an enlarged space for desirable and manually-tunable actuation modes, this study creates multi-material soft modules. To incorporate highly nonlinear responses of the soft modular bodies into the design process, a topology optimization method is firstly developed to generate feasible modular configurations by determining the best distribution of the two materials, and then the parameterized models are built, which are inspired by the optimized solutions. Two types of modules are designed. One type acquires target bending curvatures by distributing the two materials in a top-bottom asymmetric form, and the other type attains the maximal twisting capability by embedding helical hard material into the soft base. Furthermore, various modularized SPAs are made by assembling the designed modules in different sequence, and they are able to achieve a variety of actuation modes. By using one of the modularized SPA, a soft gripper is designed to accomplish a complex grasping task. The real samples of the designed modules and SPAs are made by using a multi-step casting approach. Both numerical and experiment results verify the performance of the multi-material soft modules, the modularized SPAs and the soft gripper.

模块化软气动执行器（SPA）可以通过一系列模块灵活实现多种驱动方式。然而，现有的模块通常由单一材料组成，并且可能执行有限的驱动模式。为了为理想的和手动可调的驱动模式扩大空间，这项研究创建了多材料软模块。为了将软模块化体的高度非线性响应纳入设计过程，首先开发了一种拓扑优化方法，通过确定两种材料的最佳分布来生成可行的模块化配置，然后建立参数化模型，其灵感来自于优化的解决方案。设计了两种类型的模块。一种类型通过以上下不对称形式分布两种材料来获得目标弯曲曲率，另一种是通过在软基中嵌入螺旋状硬质材料来获得最大的扭转能力。此外，通过将设计的模块以不同的顺序组装而成各种模块化的SPA，它们能够实现多种驱动模式。通过使用其中一个模块化 SPA，软抓手旨在完成复杂的抓取任务。所设计的模块和 SPA 的真实样本是通过使用多步铸造方法制作的。数值和实验结果都验证了多材料软模块、模块化 SPA 和软夹具的性能。并且它们能够实现多种驱动模式。通过使用其中一个模块化 SPA，软抓手旨在完成复杂的抓取任务。所设计的模块和 SPA 的真实样本是通过使用多步铸造方法制作的。数值和实验结果都验证了多材料软模块、模块化 SPA 和软夹具的性能。并且它们能够实现多种驱动模式。通过使用其中一个模块化 SPA，软抓手旨在完成复杂的抓取任务。所设计的模块和 SPA 的真实样本是通过使用多步铸造方法制作的。数值和实验结果都验证了多材料软模块、模块化 SPA 和软夹具的性能。