Robots currently have a wide range of practical applications. However, their widespread use is limited by long design and manufacturing times as well as increasingly complex drive system electronics and software, which have led to high development costs. Therefore, simpler manufacturing, driving, and control methods are required. In this study, we design a pneumatic actuator drive system that combines the printing technique and self-excited vibration. In the proposed actuator, a mechanism for automatically switching the airflow path is used to induce self-excited vibration. Moreover, the actuator is integrally molded by a 3D printer; therefore, no assembly process is required. This actuator can be used to easily build robots in a short time, contributing to more widespread use of robots. In this study, we also calculate the theoretical value of the moving frequency by modeling the actuator and verify the validity of this value through experiments using a prototype actuator. Based on the results, we were able to freely design the operating frequency of the actuator; by using this knowledge, we designed a flapping robot. The robot is also integrally molded by a 3D printer. Finally, we validate its motion through experiments, in order to illustrate one of the many applications of the proposed actuator.
