The air pressure distribution inside the actuator from the perspective of fluid dynamics is analyzed.The long-wave approximation method is used to simplify the pneumatic mesh soft actuator into an elastic straight pipe.The control equation of fluid flow inside the actuator is derived to obtain the relationship between inner air pressure,axial position of actuator and time.And the accuracy of the control equation is verified by the experiment.A three-joint bionic finger with a gradual change of airway radius is designed,according to the characteristic of the smaller the diameter of the tube,the higher the flow resistance.Sequential bending of three-joint bionic finger under single air source input is realized,which simplifies the control method of air pressure drive.
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