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Soft robotic manipulators are attractive for a range of applications such asmedical interventions or industrial inspections in confined environments. Amyriad of soft robotic manipulators have been proposed in the literature, buttheir designs tend to be relatively similar, and generally offer a relativelylow force. This limits the payload they can carry and therefore theirusability. A comparison of force of the different designs is not availableunder a common framework, and designs present different diameters and featuresthat make them hard to compare. In this paper, we present the design of a softrobotic manipulator that is optimised to maximise its force while respectingtypical application constraints such as size, workspace, payload capability,and maximum pressure. The design presented here has the advantage that itmorphs to an optimal design as it is pressurised to move in differentdirections, and this leads to higher lateral force. The robot is designed usinga set of principles and thus can be adapted to other applications. We alsopresent a non-dimensional analysis for soft robotic manipulators, and we applyit to compare the performance of the design proposed here with other designs inthe literature. We show that our design has a higher force than other designsin the same category. Experimental results confirm the higher force of ourproposed design.

Optimised Design and Performance Comparison of Soft Robotic Manipulators