Flexible robotic links and manipulator trunks made thereform

Details Flexible robotic links and manipulator trunks made thereform Flexible robotic links and manipulator trunks made thereform

1990-05-11

1992-01-14

Ostrager, Allen M.

Expansible chamber devices

Collapsible chamber wall portion

Wall portion formed of flexible material

92 48, 91170R, 901 22, F01B 1900

Patent

active

050800000

ABSTRACT:
Single or multiple flexible robotic manipulator trunks can be made from individually activated, three degree-of-freedom, flexible robotic links. Three dimensional positioning and orientation of the distal end of each link is achieved exclusively by elastic deformation of the flexible link assembly without revolute or prismatic joints. The activating bending and torsional moments required for such a positioning are generated by the antagonistic action of a plurality of prestressed, inflatable, laterally bendable and axially extensible tubular actuators with the anisotropic, circumferentially reinforced walls. The positioning motion, working forces and manipulator arm stiffness are all controlled by asynchronously modulated pulse streams which regulate the distribution of energy from a common source of fluid under constant pressure.

REFERENCES:
patent: 4733603 (1988-03-01), Kukolj
patent: 4776852 (1988-10-01), Rubic
patent: 4792173 (1988-12-01), Wilson
patent: 4794912 (1989-01-01), Lia

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