Multi-Material Design and Performance Analysis of Pneumatic Soft Actuators

Piri, Barnabás and Berezvai, Szabolcs (2026) Multi-Material Design and Performance Analysis of Pneumatic Soft Actuators. APPLIED ENGINEERING LETTERS, 11 (2). pp. 106-116. ISSN 2466-4677

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Abstract

Soft robotics has emerged as a promising and rapidly evolving field, replacing traditional rigid systems with highly compliant elastomer actuators that offer adaptable interactions with their surroundings. Driven by cost-effective fabrication techniques like molding, 3D-printing, and laser cutting, these systems frequently utilize pneumatic actuators to mimic biological muscle behavior. However, optimizing these designs remains difficult due to the highly nonlinear mechanical behavior of rubber-like materials and the complex fluid-structure interactions that occur during pneumatic actuation. To address these challenges, the primary aim of this research is to analyze the mechanical behavior of laser-cut, pneumatically actuated multi-material soft robotic structures. To achieve this, finite element (FE) simulations, validated against experimental measurements, were used to evaluate how different geometries and material compositions respond to actuation. By systematically examining these mechanical responses, this research aims to contribute to a broader understanding of how soft robots can be deployed more effectively and widely in the future. The main results showed that the triangular actuator shape is optimal for low-pressure, high-precision applications, whereas the rectangular and elliptical actuators can generate high grasping forces. The results also highlight the importance of the internal design of the actuator, showing that increased chamber density enhances bending in certain shapes while causing localized distortions in others.

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