抄録
This study proposes two types of innovative ciliary actuators with a hydrostatic skeleton. Fluid bags work as a flexible ciliary actuator with controlled inner pressure. A one-way motion actuator uses the difference of friction coefficients between two ground contact faces of the fluid bag. A reciprocal motion actuator is composed of one main bag and two sub bags. Both driving principles are confirmed by driving experiments with prototypes. This study also discusses a flexible ciliary actuator sheet that uses the multi layer piping method. To determine the fluid bag shape, stress concentration is analyzed by nonlinear finite element analysis using the software ABAQUS. The optimum fillet radius at the corner is calculated from the analytical result. The manufacturing method of embedded piping is also discussed. In experiment, the prototype actuator sheet moved at 3mm/s with a 12mm cilia length.
