An Optimum Design Method of Pneu-Net Actuators for Trajectory Matching Utilizing a Bending Model and GA

Table 1

Parameters of the reference actuator.

Parameter	Values (mm)
Length of the actuator (L)	85
Width of the actuator (W)	26
Height of the actuator (H)	20
Length of the chamber (l1)	2
Thickness of the inside wall (l2, l4)	2
Length of the channel (l3)	2
Height of the chamber (h1)	12
Height of the middle layer (h2)	4
Thickness of the left wall ()	4
Width of the chamber ()	18
Thickness of the right wall ()	4
Width of the middle layer ()	26