Abstract:A capsule-type soft pneumatic actuator (CTSPA) was molded with hyperelastic material (latex) and subjected to deformations. In order to provide a large thrust force and limit the direction of expansion and contraction, the actuator was covered by fiber materials and driven by compressed air. Soft pneumatic actuator, belonging to flexible drive, showed nonlinear characteristics. In this study, with theoretical and experimental methods, a static mathematical model of CTSPA was established to analyze the relation… Show more
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