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In our former research work, this book proposed a single module for foldable pneumatic soft manipulators, which is composed of one straight arm and one pneumatic actuator. The authors have proposed the kinematic model for a single module and have used the suspension method to conduct experiments. In space manipulation tasks, the properties of light weight and foldable volume can reduce the launching difficulties of the rockets, and the flexible movement enables the soft manipulator to conduct more complicated tasks. According to these considerations, this book present a design and development method appropriate for foldable soft manipulators. The great difficulties associated with the foldable soft manipulator lie in two aspects, the kinematic modelling and the ground-based experiment without considering gravity effects.

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Design, Modelling and Implementation of a Foldable Pneumatic Soft Manipulator

  • 章节

  • 发表日期：

    2026年

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  • Xiang Zhang,
  • Kangjia Fu,
  • Xuesong Wu,
  • Hongwei Liu

摘要

In our former research work, this book proposed a single module for foldable pneumatic soft manipulators, which is composed of one straight arm and one pneumatic actuator. The authors have proposed the kinematic model for a single module and have used the suspension method to conduct experiments. In space manipulation tasks, the properties of light weight and foldable volume can reduce the launching difficulties of the rockets, and the flexible movement enables the soft manipulator to conduct more complicated tasks. According to these considerations, this book present a design and development method appropriate for foldable soft manipulators. The great difficulties associated with the foldable soft manipulator lie in two aspects, the kinematic modelling and the ground-based experiment without considering gravity effects.