Abstract
Soft pneumatic network (PneuNet) actuators and their derived grippers have gained prominence in industrial and medical applications. The performance of PneuNets is typically assessed based on their angular deformation and the tip force they exert. To enhance their effectiveness, several studies have investigated the relationship between design parameters and these critical performance metrics. This paper expands upon existing literature by examining the impact of design parameters on three performance metrics: angular deformation, tip force, and resistance to buckling—the latter proposed for the first time as a performance metric for PneuNets. Resistance to buckling is significant in applications requiring high forces with minimal restrictions on maximum allowable pressure. The angular deformation and tip force are analyzed by introducing additional design parameters previously unexplored in the literature. Moreover, the former is studied in three differentconfigurations. In this context, the configuration of the PneuNet actuator refers to its orientation, such as horizontal or vertical fixation, and whether it bends against or towards gravity. These configurations simulate environmental factors and the diverse positions that PneuNets may encounter in practical applications. It is demonstrated that the influence of some design parameters on angular deformation is configuration-dependent. Furthermore, a comprehensive table is provided to aid users in optimizing PneuNet performance — whether in terms of angular deformation, tip force, or resistance to buckling — according to specific application requirements. Finally, to evaluate the practical applications of these performance metrics, five PneuNet grippers with different shapes are fabricated and tested in two distinct gripping modes.