Deformation characteristics of bending pneumatic artificial muscle depend on its internal structure

-Effect of material and dimensional differences in the inserted plate spring-

Abstract

This study investigates the mechanical characteristics of bending pneumatic artificial muscles. Typical rubber muscles are shortened with the compressed internal air pressure in the rubber tube. On the other hand, the bending-type artificial muscle bends because an inserted flat plate along the rubber tube prevents the muscle from shortening. Thus, the mechanical properties of the internal plate affect the bending displacement of the muscles and depend on the plate's thickness and material. We investigate the bending displacement of the rubber muscles, changing the plate's thickness of two plastics. The experimental results reveal that the flexural rigidity of the internal plate can determine the bending displacement regardless of materials.