Artificial muscles actuated by negative pressure offer significant benefits over those driven by positive pressure, such as high contraction ratios and improved safety, making them a promising option for various applications. This paper studies the contraction force characteristic of a bellows-like artificial muscle actuated by negative pressure. Initially, the structure, fabrication, and working principle of the artificial muscle were introduced. Subsequently, based on the force balance method, the contraction force was decomposed as the forces acted by the difference value of the inner and the outer pressures on the end plate, and the tension force derived from the adjacent contraction unit. To reduce complexity, the contraction process was divided into three phases according to the distinct contact conditions of the contraction units: uncontacted, locally contacted, and fully contacted with crests. The deformations of the contraction units in each phase were analyzed, and the corresponding contraction forces were derived. An experiment platform was constructed to test the force by changing the dimension parameters and pressure, obtaining the output force data during isobaric contraction. Finally, a comparison of the experimental and calculated results substantiated the aptness of the theorem model.

与正压驱动的人造肌肉相比，负压驱动的人造肌肉具有显着的优点，例如高收缩率和更高的安全性，使其成为各种应用的有前途的选择。本文研究了负压驱动的风箱状人工肌肉的收缩力特性。首先介绍了人工肌肉的结构、制作及工作原理。随后，基于力平衡法，将收缩力分解为端板上内外压力差值所作用的力以及来自相邻收缩单元的拉力。为了降低复杂性，根据收缩单元不同的接触条件，收缩过程分为三个阶段：不接触、局部接触和与波峰完全接触。分析了各阶段收缩单元的变形，并推导了相应的收缩力。搭建实验平台，通过改变尺寸参数和压力来测试力，获得等压收缩时的输出力数据。最后，通过实验与计算结果的比较证实了定理模型的正确性。