Modelling and parametric design of a pneumatic soft stepper motor

This paper presents model-based design of a Pneumatic Soft Stepper Motor (PSSM). This motor is inspired by the conventional electromagnetic stepper motors and the Wankel rotary engines, leveraging the principles of pole difference and pressure eccentricity. It is actuated by sequential inflation and deflation of the soft chambers on inner circumference of the stator to apply eccentric pressure on teeth of the rotor, and thus to produce the...