Simple Computational Methods for Large Deformation of Plate-Spring End Imposed by Varying Load

In this paper, a pneumatic flexible finger joint is recommended, which uses the plate-spring as skeleton. Bending status of the plate-spring is equal to the large deflection of elastic cantilever, which is actuated by a pneumatic artificial muscle actuator of longitudinal expandable rubber bellows. By this actuator, a follower force tangential to the axis of the plate-spring as well as a moment is imposed at the end of the beam. The equations to define the relation between deformation and air pressure in the actuator have been established, and mathematical methods have been derived. Two numerical solutions have been given severally by means of software Mathematica5 and Mat lab, and calculation results show the error between two methods is tiny.