Prolonging the fatigue life of the Straight fiber type pneumatic artificial muscle by the strain-induced crystallization of Natural rubber

Abstract

Pneumatic rubber artificial muscle is attracting attention as an actuator having high cooperativeness with human because of its feature of being flexible and lightweight. The authors have developed Straight fiber type pneumatic artificial muscle (SF-ARM), which is a high power, highly displaced pneumatic rubber artificial muscle. Although SF-ARM has excellent contraction characteristics, it has a problem of short fatigue life. Therefore, in this study, focusing on strain-induced crystallization of natural rubber, the fatigue life of SF-ARM has been extended. First, strain-induced crystallization of natural rubber were confirmed by wide angle X-ray diffraction. Next, analysis of strain concentration in the vicinity of the crack was performed by the finite element method. Finally, a fatigue life test of SF-ARM was carried out to confirm the effect of prolonging the fatigue life by using strain-induced crystallization.