Fig. 3: Geometric effect on pneumatic torsion strip performance.
From: Shape morphing of soft robotics by pneumatic torsion strip braiding
a Theoretical contour map of the elastic energy of a pneumatic torsion strip (width 2w = 12 mm, pressure P = 100 kPa) as a function of strip end gap 2 G and strip length L. Under a certain pressure input, the torque output of pneumatic torsion strips is determined by (b) strip end gap 2 G, (c) Strip Length L, (d) strip width 2w. and (e) ends twist angle \(\theta\). f Two pneumatic torsion strips with different geometry shapes share almost the same performance. g The torque growth rates of these two pneumatic torsion strips are tuned to a two-fold relationship. h In the case of the same scaled ends twist angle \(\theta \frac{2W}{L}\), varying L has a larger torque output range than varying \(\theta\). i The PTS membrane thickness \(\lambda\) needs to be small enough to have significant pressure dependence. Source data are provided as a Source Data file. All error bars are defined as standard deviations.
