Modeling and Design of Lattice-Reinforced Pneumatic Soft Robots

Lattice metamaterials exhibit diverse functions and complex spatial deformations by rational structural design. Here, lattice metamaterials are exploited to design pneumatic soft robots with programmable bending, twisting, and elongation deformations. The system comprises an elastomeric tube reinforced by lattice metamaterials. We develop an analytical framework to model the twisting, bending, and elongation finite deformation taking into account the geometric orthotropy and nonlinear elasticity. We experimentally validate our modeling approach and investigate the effects of geometric patterns and input loading on the soft actuators' deformation. Theoretical guided design of lateral-climbing soft robots and exploration soft manipulators are demonstrated. The soft actuator could exhibit a combined twisting–bending–elongation deformation by lattice superimposition. The proposed structural design method paves the way for designing soft robots with complex and dexterous deformations.