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In this paper a methodology for the optimization of design parameters of silicone–based pneumatic soft actuators is presented. The objective is to provide a useful tool in the early design phases of soft grippers made of silicone pneumatic actuators, which are particularly suitable for the manipulation of agrifood products. The methodology presented can be used for the optimal selection of geometric parameters and/or materials to be used for the realization of the actuators, by minimizing the material used while maximizing the tip force exerted by the actuators. This force should guarantee the stable grasp without causing damage on the objects.

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Methodology for Design Optimization of Silicone–Based Pneumatic Soft Bending Actuators for Agrifood Applications

  • 会议论文

  • 发表日期：

    2025年

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  • Benedetta Maria Vita Ostuni,
  • Stanislao Grazioso,
  • Teodorico Caporaso,
  • Antonio Lanzotti

摘要

In this paper a methodology for the optimization of design parameters of silicone–based pneumatic soft actuators is presented. The objective is to provide a useful tool in the early design phases of soft grippers made of silicone pneumatic actuators, which are particularly suitable for the manipulation of agrifood products. The methodology presented can be used for the optimal selection of geometric parameters and/or materials to be used for the realization of the actuators, by minimizing the material used while maximizing the tip force exerted by the actuators. This force should guarantee the stable grasp without causing damage on the objects.