Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes

Abstract

In this article, we will develop pneumatic actuators composed of multiple elastic tubes. Elastic tubes with mechanical constraints have a capability of performing a single various motion while multiple motions cannot be performed. Actuators composed of single-motion tubes can realize multiple motions by controlling air pressure imposed on individual tubes. First, we will investigate the motion of elastic tubes with mechanical constraints. Second, we will present the concept of pneumatic group actuators. Next, we will develop two their prototypes; single-stage pneumatic group actuator and double-stage pneumatic group actuator. Then, we will formulate the kinematic properties of the prototypes. Finally, we will experimentally demonstrate the behavior of the two prototypes.