A Comparison of Pneumatic Actuators for Soft Growing Vine Robots

Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. They also meet the requirements to steer soft growing vine robots through challenging terrain. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, bending, dynamic motion, and force: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouch motor is advantageous for prototyping due to its simple manufacturing process. The cPAM exhibits superior bending behavior and produces the highest forces, while the fPAM actuates fastest and everts at the lowest pressure. We evaluated a similar range of dimensions for each actuator type. Larger actuators can produce more significant deformations and forces, but smaller actuators inflate more quickly and require a lower eversion pressure. Since vine robots are lightweight, the effect of gravity on the functionality of different actuators is minimal. We developed a new analytical model that predicts the pressure-to-bending behavior of vine robot actuators. Using the actuator results, we designed and demonstrated a 4.8 m long vine robot equipped with highly maneuverable 60x60 mm cPAMs in a three-dimensional obstacle course. The vine robot was able to move around sharp turns, travel through a passage smaller than its diameter, and lift itself against gravity.