Structure & bending model of a biomimetic soft actuator
                                           XU Zonggui, FANG Xing, CHENG Lingfeng, PANG Lufeng, BAO Guanjun
                                   (School of Mechatronics Engineering, Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the problems of modeling soft actuator that are difficult by the conventional way,the multicavity coupling structure of soft actuator, the bending reinforcement material and bending deformation under inflatable state were studied, a novel biomimetic soft actuator with multicavity and multisegment coupled structure was proposed. This actuator could achieve a wide range of forward and reverse bending in one direction.The static model and the bending model of the actuator were established.A method was presented to make the experimental platform which base on a way of electropneumaticcontrol proportional valve. The results indicate that in the pressure range of 0~0.18 MPa the established bending model according to similar data curve.

Key words: soft actuator; static model; bending theory