抄録
In this paper, a new type of pneumatic actuator for flexible cable robot is proposed. The proposed actuator is based on the catastrophic structure which mainly consists of an air cylinder as the power source, rubbers for energy storage, a magnet as the trigger for energy release and a weight for impact generation. Through experiments we show that the actuator moves backward under low friction conditions and forward under high friction conditions. We also built the simulation model of the actuator for design optimization in the future.
