In this paper the design and static analysis of a novel artificial muscle system are presented. The proposed design is
based on exponential strain amplification applied to PZT stack actuators. Exponential strain amplification is achieved by
means of a nested cellular architecture. The primary limitation of the nested strain amplification mechanisms is the loss
of blocking force due to structural compliance. Therefore, to quantify and improve the performance of the design,
analytical expressions are obtained for the blocking force and free displacement of two separate amplification
mechanisms using Castigliano's strain energy and displacement theorem. Measured values for blocking force and free
displacement validate the static behavior predicted by the solid mechanics. Design implications for the amplification
mechanisms are then enumerated based on the theoretical modeling.