Florian Schreiber: Raumkurvenmodell für weiche, asymmetrische Aktoren aus pneumatischen Netzwerken (Series FAMS, Vol. 1, 2026, Diss.)

The development of soft robotics technologies opens up new perspectives for the automation of sensitive handling processes where conventional rigid grippers reach their limits. In particular, pneumatically operated networks of air chambers, so-called pneunets, enable gentle and adaptable gripping.

This paper presents the Pneunet Space Curve Model (PneuRaM), a novel model that calculates the deformation of pneunets in real time based on design and process parameters. Based on analytical and empirically validated approaches, a modular model is developed that combines pneunet geometry, repeatability, trajectory and transformation mapping. The performance of the model is demonstrated using two practical applications: In a soap factory, the PneuRaM enables the design of a gripper that can reliably handle varying soap bars without damaging their surface. In the scenario of picking vegetable crates, the model supports the planning of gripping processes with a high number of variants and limited installation space.
This shows that the PneuRaM is not only suitable for modeling, but also for concrete process design in industrial applications. The work thus contributes to the methodological basis of soft robotics by providing an adaptable, real-time-capable model that supports the digital planning and optimization of pneumatic grippers in research and industry.