High-output bending motion of a soft inflatable microactuator with an actuation conversion mechanism

摘要

Different types of bending-type PBAs as thin film soft inflatable microactuator. ( ) Inflatable microactuator with a conversion mechanism for the contracting motion . ( ) First generation of bending-type PBA , ( ) Inflatable microactuator with a conversion mechanism for the bending motion . ( ) Force vector graph of the conversion mechanism for the contracting motion microactuator illustrated in ( ). ( ) Force vector graph of the conversion mechanism for the bending motion microactuator depicted in ( ). The force F represents the pushing force against the conversion film caused by the inflated balloon.