Analysis of snake movement inspired soft actuator using FEA

The current study aims to design and analyze a soft pneumatic actuator inspired by the serpentine motion created by biological snakes. The designed soft actuator is numerically simulated using the theory of finite element analysis. For numerical simulation, the soft pneumatic actuator is assumed to be made up of elastomeric or hyperelastic material, named Smooth-Sil 950, and the required material constants for the Neo-Hookean hyperelastic material model are considered from the literature. The designed soft actuator is able to elongate as well as bend under the applied pneumatic pressure. From the simulation results, it is found that the soft actuator is able to develop a maximum elongation of 21 mm and bending of 56 degrees (upward and downward direction) at a pneumatic pressure of 500 kPa. Therefore, the designed soft pneumatic actuator could be developed experimentally to assemble a soft robotic gripper that could be used in packaging industries.