Ultralong Stretchable Soft Actuator (US2A): Design, Modeling and Application

Abstract Actuator plays a significant role in soft robotics. This paper proposed an ultralong stretchable actuator (US 2 A) with variable and sizeable maximum elongation. The US A is composed of silicone rubber tube bellows woven sleeve. maximal extension can be conveniently regulated by just adjusting the wrinkles’ initial angle kinematics could obtained geometrically analyzing structure sleeve when inflated. Based on principle virtual work, actuating models have been established: pressure-elongation model pressure-force model. These reflect influence tube’s shell thickness material properties pneumatic muscle’s performance, which facilitates optimal design for various working conditions. experimental results showed that elongation prototype 257%, effective variably range 0 257%. were also verified experiments, average error 5% 2.5%, respectively. Finally, based A, we designed rehabilitation glove, arm robot, rigid-soft coupling continuous further feasibility as driving component.