Abstract
Most industrial robots are equipped with gripping mechanisms which consist of rigid links and joints. So, the objects to be grasped are limited, and gripping mechanisms which have shape adaptability are needed. In this study, we have developed a new elephant trunk actuator which realizes high gripping force and also flexibility. The elephant trunk actuator which is composed of a contracting muscle and five extending muscles surrounding it works well. The deformation and the stiffness of this actuator are measured. Furthermore, the elephant trunk actuator whose length is 7 meters is made. It realizes curving to many directions and grasping.
