Self-excitation pneumatic soft actuator inspired by vocal cords

Pneumatic actuators afford advantages such as flexibility, low weight, and explosion-proofness. However, increasing the number of pressure supply tubes using solenoid valves in a multi-degree-of-freedom system may negate these advantages. Therefore, this study proposes soft actuator that uses self-excited vibrations realized by an airflow between two flexible plates to open close valve manner similar vocal cords. This can be fabricated simple materials, unlike those used conventional vibration robots, it expand applications pneumatically driven robots. A prototype was constructed, its operation verified. Further, model developed analyze characteristics proposed actuator, results simulations based on analytical experiments with were compared. The simulation successfully predicted minimum flow rate is required for producing oscillations plate thickness mainly affects driving frequency. show increase degree freedom pneumatic without requiring use valve.