Development of bending soft actuator with different braided angles

• Main Authors: Mohd. Faudzi, Ahmad 'Athif, M. Razif, M. Rusydi, M. Nordin, Ili Najaa Aimi, Suzumori, K., Wakimoto, S., Hirooka , D.
• Format: Book Section
• Published: IEEE 2012
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/34715/; http://dx.doi.org/10.1109/AIM.2012.6266037

In recent years, many researchers have been focusing on the different novel techniques in designing pneumatic soft actuator that can produce bending motion. This paper presents a novel soft actuator design; a combination of different braided angles of artificial muscle applied on a single chamber soft actuator to produce bending motion. The actuator construction is based on the theory of contraction and extension of artificial muscle. It comprises of fiber-reinforced inside silicone rubber and is capable to create one-sided bending motion. Analysis of nonlinear finite element method is conducted to predict the direction and bending angles of the actuator before a prototype of actuator is fabricated. Based on the results, the developed soft actuator can realize bending motion after standard pressure driving experiment is executed.