Insufficient model accuracy and drive capability are common problems of current pneu-nets actuators. The key of modeling is the strain energy calculation and gravity influence

and the key of drive capability is the structure. In order to improve model accuracy and drive capability

firstly

the strain energy after deformation is characterized by regional distribution through simulation and experimental data. Based on the above-mentioned results

a strain energy partition calculation method is proposed to improve the calculation accuracy of the strain energy in the model. Then a combination of concentrated and distributed masses was used to characterize the gravitational influence and further improve the model accuracy. The reliability of the model is verified by the comparative analysis of experiments

simulations and models. Finally

according to the experimental data

the influence of the number

height and gap of chamber on the bending angle and force was investigated

then the actuator structure to improve the driving capacity was optimized. The data show that the bending angle of the actuator is improved by about 0.5 rad comparing with the original one

and can reach 2.5 rad. The force increased by about 2 N comparing with the original one

and can reach 3 N.