Abstract
Recently, several soft actuators have been researched because of their high safeties. In this paper, firstly, we designed several types of multi lumen tube actuators made of silicone rubber with Finite Element Method. After that we compared these actuators with evaluation indexes we defined. From this result, we decided the optimum shape of the actuator. The optimized actuator can get large deformation. Secondly, we developed the actuator based on the result of analysis. The actuator has multi lumen structure which causes large deformation of the actuator. It's named Improved Tetra Chamber Actuaotr.We made a basic experiment of this actuator. Finally, we applied several actuators to mechanism which can transport some object. This device has ability of transportation.
