Types and Applications of Soft Robot Arms and End-Effectors: A Review

Types and Applications of Soft Robot Arms and End-Effectors: A Review

Journal: Journal of Robotics Research (JRR), Volume:1, Issue:1, Pages: 40-52  Download pdf

Authors: Muna Mohammed, Alaa Al-Ibadi

Date: 10-2024

Abstract: Soft actuators have evolved as an inventive solution as a result of the ongoing advancements in technology and the growing demands for a safer and more efficient interaction between robots and humans and natural settings. These actuators are perfect for applications that call for careful handling of fragile objects and adaptation to irregular surfaces and forms since they can move more smoothly and flexibly than typical stiff actuators. The most recent advancements in the field of soft actuators are reviewed in this study. Shape memory alloys, magnetic actuators, electroactive polymers, and pneumatic muscle actuators (PMA) are only a few examples of the various types of soft actuators. Along with highlighting the integrated structure of these actuators, we also illustrate PMA configurations such as the contraction, extensor, and bending models. Additionally, the research focuses on soft-arm robotics or the design of robots with gripper-equipped arms. Each robot's design is explained in detail, including its purpose and the materials it was made of, as well as its size, weight, and working mechanism. The goal of the study is to provide better knowledge of the development of these technologies and their expanding use in industrial and research settings, with an emphasis on how accurate and flexible they are when interacting with their surroundings.

Keywords: soft robot, soft actuator, PMA, soft arm, soft gripper

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