Optimization of elephant trunk soft pneumatic actuator using finite element method

Purpose This paper aims to study the influence of significant design parameters of elephant trunk soft pneumatic actuator and presents maximum optimized geometric structure of the actuator using finite element method. Design/methodology/approach Analysis of variance (ANOVA) is used to examine the influence of significant parameters such as wall thickness, bottom layer thickness and gap between adjacent chambers on the performance of the soft actuator. The most influencing parameter is found to be the wall thickness compared to the gap between adjacent chambers and bottom layer thickness. Findings The optimization of bending moment recommends a wall thickness of 1.5 mm, a gap between the adjacent channels of 1.5 mm and bottom layer thickness of 4 mm for the actuator. The theoretical expression of mechanical parameters is described. Originality/value The design optimization of elephant trunk shaped soft actuator with respect to bending angle and force analysis has not been investigated.