الفهرس 
Introduction and Literature ReviewOnly 14 pages are availabe for public view
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Abstract
Soft actuators have recently been gaining popularity in robotics because
of their higher flexibility, lightweight, low cost, and simplicity of fabrication.
Traditional rigid grippers have been used widely in industrial applications for a
long time. However, when conventional rigid grippers are used, the shape of the
grabbing object must be considered when designing the gripper surface. As a
result, the gripper can only hold a limited number of things and, occasionally, a
unique object. In this thesis, a geometrical parameter is developed by studying the
influence of the thickness of the change of the chamber wall, the thickness of the
base, and the chamber angle on the SPA work envelope when applying a wide
range of positive pressure to the inner surfaces of Spas. Soft pneumatic actuator
(SPA’s) models with large and small thickness ratios are compared using FEM.
The simulation demonstrates that increasing the wall thickness ratio of the model
provides a greater bending angle than the model with a lower wall thickness ratio
at the same input pressure. Also, for the change of the chamber angle at an angle
equal to zero, the SPAs provide a bending angle only, but when the chamber angle
increases, the SPAs provide bending and twisting together. The proposed models
still maintain the air surface area inside the actuator. Furthermore, it was observed
that compared to the model of the other models, the wall thickness ratio model
has the most significant effect on the bending and twisting angles. Finally, an
increase in deformation was observed in 60% and 44.5% of bending and twisting
together due to a change in the SPA’s wall thickness.