IEEE Robotics & Automation Magazine - September 2022 - 80

Diels-Alder material can be easily recyclable, further
increasing its sustainability.
Characterization and Modeling of the
Hyperelastic Behavior
Measuring the Hyperelastic Behavior
To make a FEA model for a soft pneumatic actuator, first a
material model that simulates the hyperelastic behavior of
self-healing elastomers, from which the actuator is constructed,
needs to be fit on a mechanical characterization.
To have a highly accurate mechanical characterization, six
sets of different mechanical tests are preferred [17]:
uniaxial tension/compression tests, biaxial tension/compression
tests, and planar tension/compression tests. This
complete study of the mechanical properties requires high
technological and expensive characterization equipment
that is not present in many research labs. Consequently, in
this work, the mechanical characterization is limited to
uniaxial tension and compression tests, accompanied with
a Poisson ratio measurement. Nonetheless, it will be demonstrated
that with this limited number of material tests,
an accurate model of the mechanical behavior of the material
can be obtained.
Both the uniaxial tensile and compression tests are executed
on a Dynamic Mechanic Analyzer (DMA) Q800 of
1
R1.75
R0.5
R1
1
1
2.5
2.5
2.5
2.5
101.5
121.5
2.5
16.5
3.25
4.5
2.5
2
Self-Healing Material
DPBM-FT5000-r0.5
R1.75
(a)
(b)
Figure 2. Self-healing soft pneumatic actuator design demonstrator; (a) the design and dimensions, (b) the actuator prototype.
80 * IEEE ROBOTICS & AUTOMATION MAGAZINE * SEPTEMBER 2022

IEEE Robotics & Automation Magazine - September 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2022

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