The Design and Analysis of Pneumatic Rubber Actuator of Soft Robotic Fish

This paper describes a pneumatic rubber actuator, achieving forward locomotion in water by swinging like fish tail. First, according to the anatomical structure of fish, the geometry model of the actuator is designed. Second, the finite element method is used to analyze the designed structure and the structure is improved based on the stress distribution. Finally, the modified actuator is fabricated using silicone rubber. When pressurized, the actuator has large bending deformation and realizes swing motion similar to fish tail by alternatively inflating and deflating the channels. The designed structure achieves the expected performance. So the finite element method is an effective approach to the design and analysis of structures made in nonlinear materials.