Design of Multifunctional Soft Doming Actuator for Soft Machines

Bilayer bending-based soft actuators are widely utilized in soft robotics for locomotion and object gripping. However, studies on soft actuators based on bilayer doming remain largely unexplored despite the often-observed domelike shapes in undersea animals such as jellyfish and octopus suction cup. Here, based on the simplified model of bending-induced doming of circular bilayer plates with mismatched deformation, the design of a soft doming actuator upon pneumatic actuation and its implications in the design of multifunctional soft machines are explored. The bilayer actuator is composed of a patterned embedded pneumatic channel on top for radial expansion and a solid elastomeric layer on the bottom for strain-limiting. It is shown that both the cavity volume and bending angle at the rim of the actuated dome can be controlled by tuning the height gradient of the pneumatic channel along the radial direction. Its potential multifunctional applications are demonstrated in swimming, adhesion, and gripping, including high efficient jellyfish-inspired underwater soft robots with locomotion speed of 84 cm min(-1) and rotation-based soft grippers with low energy cost by harnessing the large rim bending angle, and octopus-inspired soft adhesion actuators with strong and switch- able adhesion force of over 10 N by utilizing the large cavity volume.