Design of Multi-Manifold Soft Pneumatic Actuator for Differential Pressures and Improved Control

Soft Pneumatics is a sub-branch of Soft Robotics. The research in this field relies on designing and developing new actuators that can be employed for varied range of applications. Design of Soft Pneumatic Actuator (SPA) frequently relies on single chamber or single manifold actuators. SPA designed with a single pressure source can produce customized motion but only in a single direction. This paper proposes a soft pneumatic actuator with multiple manifolds that can employ selective and differential pressure actuation to exhibit better control. The actuator was designed keeping in mind two-way actuation with chamber separation. Even though the chambers lie on the same side they are connected to different manifolds having different pressures. To achieve the desired bending curvature, different actuation sequences can be used in conjunction. A Conical Dome Shape internal chamber design was chosen to avoid excessive ballooning and reduce stresses on the lateral walls. The said actuator employs easy manufacturing techniques and has a wide range of applications. This article discusses the process of designing, analysing, and fabricating an actuator that uses selective actuation.