Abstract: A multi-segment soft fluidic elastomer robot in three dimensions which is designed to be modular and can move around all the space is presented. The design of the pneumatically actuated silicone module, resembling soft tissue, with three pneumatic chambers is considered and optimized. The design optimization of the silicone module is based on finite element analysis (FEA). The materials used to make the module and design parameters such as the shape of the pneumatic channel cross-section, the ratio of channel length to module length, the distance of channel from the module wall and the ratio of the channel to module cross-section are analyzed. From the FEA analysis, the structure of the silicone module can be optimized:the research choose the pneumatic chambers of semicircular cross section, when need to gain higher pressure, else can choose the pneumatic chambers of ring cross-section indeed. According to the results of the simulative optimization, soft actuator that achieves great flexibility and ability to carry objects with low pressure is fabricated. Then, to get the idea how the multi-segment soft fluidic elastomer robot in three dimensions works, a series of kinematics experiments and mechanics experiments are set up, including the bending range test, the stiffness changing test and the generated force test. Last but not least, a bio-inspired soft arm is defined, which is connected by three single arm segments and can easily conduct the movement and grasping motion in three-dimensional space.

Key words: bio-inspired, finite element analysis, modular, soft actuator