A Novel Flexible Bidirectional Bending Actuator with Large Angle

Abstract

Rigid manipulators are widely used in different industrial applications, while the rigid actuators are not suitable for grasping fragile and vulnerable objects. Thus, with the increasing demand for soft actuators in many special areas, soft actuators have also made leap-forward development. Flexible actuators, as the end-effecter of manipulator, has been studied globally. It has the advantages of light weight, high safety and flexible operation. However, flexible actuators are mainly made of silica gel and rubber, which are supplemented by fabric and nylon thread to limit displacement. It takes a lot of time to make silica gel flexible actuators. This paper presents a novel flexible bi-directional bending actuators with large angle made by Aluminized Polyester materials (AP) and Polyethylene terephthalate (PET) using CO2 laser. In this paper, different reinforced structures are designed to limit the radial expansion of actuators. This paper aims to determine the relationship between gas pressure and bending angle under different chamber's width. The actuators have simple process and excellent performance, which brings new research ideas for the design and manufacture of light and thin soft actuators. A novel soft manipulator was made by this actuator which can lift some objects.