Soft Cylindrical Actuator - 3-Chamber Bending Simulator (Stable, Standing, Controllable)

Soft Cylindrical Actuator – Stable Standing Bending

Actuator Geometry

Length

0.80 m

Outer Radius

0.040 m

Wall Thickness

0.010 m

Three longitudinal chambers at 120° around the cylinder core. Base is fixed upright on ground.

Flexibility (lower = softer)

0.40

Damping

0.35

Gravity

9.81

Base Anchor Stiffness

120

Ground Friction

0.80

Chamber A

0.00 kPa

Chamber B

0.00 kPa

Chamber C

0.00 kPa

Uniform Inflate

0.00 kPa

Animate Pressures

Increasing a single chamber bends away from that chamber. Use A/B/C for controllable heading.

Segments

Show World Axes

Show Local Frames

Tip: (0.00, 0.80, 0.00) 0 fps

X Y Z