We propose a novel pneumatic actuator for applying to inspection robQts in narrow spaces . This actuator is 25 mm in maximum diarneter and has unlimited stroke length and high speed motion by converting expansive power of pressurized tube 七〇 rolling motion . The maximum generating force of it is more than 20 N at 500kPa pressure and the maximum linear motion velocity is more than g m / s . In 七 his paper, we established a dynamic odel of this actuator and simulated the generating force to applied pressure .且1rtherlnore , we carried
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