Analysis and Comparison of 3D Printed Soft Pneumatic Actuator Configurations for Swaying Lateral Motion of Planar Objects

Soft pneumatic actuators (SPAs) offer unique possibilities in robotics and automation due to their compliance and versatility. Unlike conventional actuators that can move either revolute or prismatic, SPAs can produce complex motions, especially when configured in combinations. This paper systematically investigated the performance of four distinct SPA configurations (Types 1-4) concerning the task of moving a planar square object and swaying it laterally to the right and left. These configurations are analyzed for their ability to achieve desired movements and orientations. Type 4, involving two SPAs, emerges as the most effective configuration, successfully navigating the challenges posed by the desired task. In contrast, Type 2, consisting of four SPAs, encounters difficulties in executing the task attributed to increased inertia, which was similar as type 3. Types 1, while not precisely meeting the primary task, reveal distinctive movements - left-right motion without orientation change. This study contributes valuable insights into the complex dynamics of SPAs, offering considerations for optimal design and performance. The outcomes could be developed in the future in soft actuator applications, especially those involving configurations based on specific needs.