Optimal Design of Bending Pneumatic Rubber Actuator Based on Non-linear Finite Element Analysis
نویسندگان
چکیده
This paper shows a new design and prototyping method for pneumatic rubber actuators. The method enables us to design pneumatic rubber actuators optimally and efficiently based on static analysis using non-linear finite element method, in which geometrical and material non-linearity are considered and also enables us to prototype them rapidly and efficiently by a CAD/CAM based rubber moulding process. In this paper, a bending pneumatic rubber actuator with two degrees of freedom is designed and developed, where the characteristics of several possible actuators are analyzed and evaluated to lead to the optimal actuator design. The experimental results of the prototype actuator shows that the developed actuator works very well and its characteristics agree well with that of analytical results.
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