Geometry of artificial muscle driven by one actuator

In this paper, geometry of artificial muscle which moves forearm of robotic arm is described. We have chosen configuration which is driven with one actuator (motor, gear and winch), to check the possibility of the implementation of the desired motion. The analysis of the geometry of the selected mechanism is the first step and very important step to establish the structural stability of the artificial muscle system, which implies the possibility of the implementation of the desired motion.