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In soft robotics, pneumatic network actuators (pneunets) enhance safety in human–robot collaboration by reducing injury risks from rigid grippers. This study investigates the additive manufacturability and bending behavior of pneunets that are fabricated using various additive manufacturing (AM) processes, focusing on the Liquid Additive Manufacturing (LAM) process for real silicone. Compared to TPU-based pneunets manufactured via Fused Filament Fabrication (FFF) and Selective Laser Sintering (SLS), LAM pneunets achieve a larger bending angle (104°) without structural failure and exhibit superior resilience compared to PolyJet (PJ) pneunets. Trajectory analysis reveals that softer materials experience pre-bending due to gravity. However, the LAM pneunets demonstrate high elasticity and return to their original shape after actuation, making them promising for soft robotic applications such as delicate object handling. The findings highlight the potential of LAM manufactured silicone to improve pneunet performance. Future work focuses on optimizing the LAM process, evaluating long-term durability, and refining trajectory control to enhance functionality, for more flexible and efficient soft robotic systems in industrial settings.

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Benchmarking Additive Manufactured Silicone Actuators: A Trajectory and Bending Analysis

  • 会议论文

  • 出版模式：

    开放获取

  • 发表日期：

    2026年

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  • Florian Schreiber,
  • Lukas Gugel,
  • Philipp Vogelgsang,
  • Jörg Franke,
  • Martin Manns

摘要

In soft robotics, pneumatic network actuators (pneunets) enhance safety in human–robot collaboration by reducing injury risks from rigid grippers. This study investigates the additive manufacturability and bending behavior of pneunets that are fabricated using various additive manufacturing (AM) processes, focusing on the Liquid Additive Manufacturing (LAM) process for real silicone. Compared to TPU-based pneunets manufactured via Fused Filament Fabrication (FFF) and Selective Laser Sintering (SLS), LAM pneunets achieve a larger bending angle (104°) without structural failure and exhibit superior resilience compared to PolyJet (PJ) pneunets. Trajectory analysis reveals that softer materials experience pre-bending due to gravity. However, the LAM pneunets demonstrate high elasticity and return to their original shape after actuation, making them promising for soft robotic applications such as delicate object handling. The findings highlight the potential of LAM manufactured silicone to improve pneunet performance. Future work focuses on optimizing the LAM process, evaluating long-term durability, and refining trajectory control to enhance functionality, for more flexible and efficient soft robotic systems in industrial settings.