Abstract
The static characteristics of pneumatic bending actuator, which is made of fiber reinforced rubber, have been investigated theoretically and experimentally. The theoretical expression for estimating the bending force of an actuator has been derived for the arc-shaped deformation model with one degree of freedom. Experimental measurements were carried out to examine the relationship between the bending angle and the bending force of actuators. Experimental results show that the derived expression is valid and useful for design of this type of bending actuator. It is also shown that even a small actuator, 16mm in diameter and 100mm in length, can put out bending force more than 5N at the edge.
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