Design and optimization of a linear fiber-reinforced soft actuator for improved linear motion performance

Md Ghazaly, Mariam and Jaafar, Hazriq Izzuan and Hasim, Norhaslinda and Mohd Sobran, Nur Maisarah and Wong, Min Yee and Abdullah, Zulkeflee and Zainal, Nasharuddin (2025) Design and optimization of a linear fiber-reinforced soft actuator for improved linear motion performance. Bulletin of Electrical Engineering and Informatics, 14 (1). 173 - 183. ISSN 2089-3191

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Abstract

The demand for safe and flexible actuators has increased as traditional actuators pose safety risks due to their rigid materials, especially in applications requiring human-machine interaction. This study focuses on designing and optimizing a linear fiber-reinforced soft actuator to enhance linear motion performance while maintaining safety and flexibility. Finite element method (FEM) analysis was used to evaluate the effects of varying key design parameters, including core radius, actuator length, and core wall thickness. The analysis revealed that increasing the core radius leads to greater linear extension, while increasing the actuator’s length and wall thickness reduces extension. Among the tested designs, the R10 design exhibited the highest linear extension, with a 44.41% increase in length compared to the original design. However, the R10 design also showed undesirable bulging at the free end under pressure, which necessitated further optimization. By increasing the thickness of the sheath wall, the bulging was reduced, and the optimized design achieved a 34.53% increase in extension. This study highlights the significance of parameter optimization in fiber-reinforced soft actuators to achieve superior linear motion performance. Future work will explore further improvements in structural stability, sensor integration for precise control, and advanced fabrication techniques for better customization and durability.

Item Type:	Article
Uncontrolled Keywords:	Analysis, Finite element method, Linear fiber-reinforced, Linear motion, Soft actuator
Divisions:	Faculty Of Electrical Technology And Engineering
Depositing User:	Sabariah Ismail
Date Deposited:	09 Apr 2025 16:14
Last Modified:	09 Apr 2025 16:14
URI:	http://eprints.utem.edu.my/id/eprint/28651
Statistic Details:	View Download Statistic

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