Exploring Welding Techniques for the Integration of Pneumatic Artifical Muscles into a Soft Everting Robot

Abstract In this paper, different welding techniques for manufacturing pneumatic artificial muscles (PAMs) for the use in soft everting robots for colonoscopy are presented. The focus is on developing reproducible prototyping methods for manufacturing robust and cost-efficient PAMs. Two welding techniques, including laser welding and contact welding, are analyzed for their effectiveness in creating durable and scalable PAMs. Preliminary results show that laser welding offers high precision but inconsistent airtightness, crucial for PAM functionality. In contrast, contact welding, though slower, provides more reliable airtight seals and better reproducibility. Optimized contact welding settings balance weld seam thickness and production time. Further refinements are needed to improve speed and seam quality, with potential for large-scale production. These findings offer valuable insights for scalable PAM manufacturing in soft robotics.