fig2

Figure 2. Structural parameters and fabrication of FAWA. (A) Structural parameters in inflated (coiling) states (P = 50 kPa); (B) Structural parameters of FAWA based on the pleated bladder structure, shown in uninflated states; (C) Non-intersecting cylindrical helical lines formed by the constraint layer and the top layer are projected onto a plane perpendicular to the axial direction; (D) (i) 3D model surface unfolding and laser cutting of the fabric. (ii) Edge sealing of the bladder via heat pressing. (iii) Design and fixation of the pleats. (iv) Welding of the pleated bladder onto the constraining layer bladder using an ultrasonic welder. FAWA: Fabric-based adhesive winding actuator; 3D: three-dimensional; CAD: computer-aided design.