A New Fabrication Method for Soft Pneumatic Actuators based on Paraffin

compared with traditional rigid robots, the soft robots inspired by bionics have attracted extensive attention because of their inherent flexibility and safety. The motion of soft robots is mainly driven by soft actuators. However, the design and control of this kind of soft actuators is still lack of theoretical guidance. In this paper, a soft actuator structure is designed based on the idea of modularization and bellows, and the improved wax loss casting method is used to make the soft actuator. Then we build an experimental platform to test the performance of the soft actuator. The result shows the deformation of the soft actuator under different air pressure. With the increase of the internal pressure, the airbag expands obviously and the elongation increases.