2A1-E08 Development of a Flexible Pneumatic Linear Actuator with Unlimited Stroke Length and High Speed Motion(Mechanism and Control for Actuator(1))

Abstract

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