Elastically deformable fluid actuator

Details Elastically deformable fluid actuator Elastically deformable fluid actuator

1989-10-17

1990-12-11

Ostrager, Allen M.

Expansible chamber devices

Plural flexible wall working members

92 89, 92103R, F01B 1900

Patent

active

049761919

ABSTRACT:
An actuator for use in an arm or hand of an industrial robot comprises a tubular elastic body of which interior is separated into a plurality of pressure chambers by an axially extending partition, and means for adjusting respective pressures of the pressure chambers to render the tubular elastic body to take a motion at a multi-degree freedom. At least the outer peripheral part of the tubular elastic body has an anisotropic characteristic with respect to modulus of elasticity. The axial direction of the tubular elastic body is a direction small in modulus of longitudinal elasticity, while the direction perpendicular to the axial direction of the tubular elastic body is a direction large in modulus of longitudinal elasticity.

REFERENCES:
patent: 2376634 (1945-05-01), Tellkamp
patent: 2456869 (1948-12-01), Fowler
patent: 3946641 (1976-03-01), Hirmann
patent: 3981528 (1976-09-01), Andorf et al.
G. B. Immega, "ROMAC Actuator for Micro Robots", MicroRobots & Teleoperators Workshop by IEEE Robotics and Automation Council, Nov. 9, 1987.

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