A two-step deforming process is proposed to study the stress state on the uninflated side. The deformation on the inflated side is simplified to planar type and is decomposed into two mutually perpendicular directions to analyze the stress state. The deformation of the actuator on the inflated side and the uninflated side, respectively, is analyzed based on principles of elasticity mechanics.
When one side of the actuator is inflated, it consequently bends toward the uninflated side. Between the two rubber blocks, an ABS plate is fixed to work as a neutral layer. The actuator is composed of two symmetrically distributed silicone rubber blocks (Ecoflex0030 from Smooth-on Co., Ltd.). A theoretical model is built in this study for analyzing and predicting the deformation of a bending-type soft pneumatic actuator used for bionic robotic fish.
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