In order to solve the problems of low loading capacity and small deformation range of flexible actuators at the present stage,a three-degree-of-freedom pneumatic flexible actuator was designed and fabricated,its deformation mechanism was analyzed and the effect of muscle enhancement on actuator elongation,bending direction and bending angle,and driving force was studied experimen-tally.The experimental results show that by controlling the air pressure inside the artificial muscle cavity of the actuator,the actuator can produce axial elongation and bending deformation in any direction from 0° to 360° in space;the enhanced muscle ventilation has an in-creasing effect on the deformation and driving force of the actuator,under 0.4 MPa air pressure,the elongation rate of the actuator with-out enhanced muscle is 49％,the bending angle is 68° and axial driving force is 278 N,and the elongation rate of the actuator enhanced muscle is 54％,the bending angle is 77.5° and the axial driving force is 300 N.
flexible actuatorenhanced muscleaxial elongationbending angledriving force
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