Abstract
This paper proposes a 3-d. o. f soft actuator composed of rubber balls, and describes the structure and the operational principle of this actuator. This actuator is made with six rubber balls. This rubber balls are fixed on the proper hexagon shaft. The actuator has three degrees of freedom. The shaft turns around x, y and z axes by pressure difference of six balls. A rotation movements around x and y axes are possible by adjusting the pressure of six rubber balls. A rotation movement around z axis can be realized by making the pressure of each ball change one after another.
