الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
Soft robotics, a recent innovation in robotics systems, has soft and flexible
materials, such as silicon rubber, that provide safety during human contact and
excel at handling complicated or delicate products. This study focuses on soft
pneumatic muscle actuators. A geometrical parameter for soft artificial
pneumatic muscles is developed, where the model consists of three soft
pneumatic chambers. In this study, the geometrical parameters for the soft
pneumatic muscles (SPMs) are studied namely, chamber thickness, pitch, and
height. SPMs model include three parallel soft chambers connected to each other.
The study observes the effect of geometrical parameters variation of the chamber
as well as the applied pressure on actuation such as the deformation direction and
internal stress. Set of models representing SPMs are designed using the
Solidwork CAD program and then analyzed using finite element analysis method
(FEM) by ANSYS software. FEM is used as modeling tool that gives a suitable
model for nonlinear hyper elastic material to get the suitable geometrical
parameters that have the main effect on SPMs actuation. Then, the corresponding
SPMs workspace is obtained. The proposed SPMs model is simulated and
deformation in X, Y, and Z axes, stress, and strain are obtained according to set
values of applied pressures in the three chambers. Based on the FEM results, the
maximum deformation, stress, strain, bending angle, and orientation angle are
obtained. Moreover, a Neural Network (ANN) is estimated to present SPMs
inverse kinematics model. The results of ANN model’s performance in terms of
training, validation, and testing indicate successful performance and efficiency
of the trained ANN model. SPMs model is fabricated using molding-based
method. A test rig of electropneumatic circuit with cameras is established to
perform experimental work. After simulation results, one model is selected and
tested experimentally in different cases of actuation. An application of SPMs in
rehabilitation as upper limb assistive device for brain stroke patients.