空気圧駆動ベローズアクチュエータ発生力の定式化

抄録

Soft actuators are used for automation in the food industry and medical applications because of their compliance and flexibility. However, modeling such actuators has been a challenging task due to its large deformation. In this study, we focus on developing a simple empirical model to describe the generated force of soft bellows actuator. The model includes the parameters of geometry, material, and rigidity, and can be used to facilitate the actuator design and control. We fabricated bellows actuators using 3D printer with flexible filament and experiments were conducted to validate the proposed model.