Enhanced Pneumatic Flexible Actuator Deformation and Actuation Characteristics Experiments
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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