Fluid-powered mechanical actuator and method for controlling
First Claim
1. A fluid-powered mechanical actuator having a proximal end and a distal end and comprising:
- an elongated framework comprising a plurality of structural elements hingedly connected serially in end-to-end linked relationship to form a variable angle therebetween, each linked pair of elements comprising;
a first element and a second element;
a hinge that hingedly connects an end of the first element to an end of the second element, thereby allowing one degree of freedom for rotational movement about a hinge axis for the first element and the second element relative to each other;
a bias in the direction of minimizing the angle between the first element and the second element;
a flexible elongated chamber that extends along a portion of the first element'"'"'s length, across the hinge, and along a portion of the second element'"'"'s length; and
a portion of the first element that holds the chamber and a portion of the second element that holds the chamber such that the chamber, and the first and second elements, are constrained to move together;
wherein the chamber comprises;
a flexible but non-expansible wall that is substantially non-permeable to a working fluid;
an enclosed space within the wall; and
a fluid conduit connected to the enclosed space for communicating a controlled pressure to the working fluid contained in the enclosed space, such that the chamber will tend to straighten in response to a pressurized working fluid therein, thereby exerting a force always in opposition to that of the bias.
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Accused Products
Abstract
A fluid-powered mechanical actuator having a proximal end and a distal end and having a plurality of hollow tubular elements hingedly connected in end-to-end linked relationship to form a variable angle therebetween, each such link having one degree of freedom; provision to bias the elements in a direction to minimize the angle between them; a flexible elongated chamber enclosing a space within it, the chamber situated within the linked elements and within the link therebetween, substantially contained thereby, the chamber having a flexible but non-expansible wall; and apparatus to provide to the space within said chamber a pressurized working fluid; whereby the pressure of the working fluid causes said chamber to straighten within said elements, especially at said links, thereby moving the relative position of the elements in a manner to act against the biasing means, thereby to cause an increase of the angle between them by providing an increase in working fluid pressure.
25 Citations
20 Claims
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1. A fluid-powered mechanical actuator having a proximal end and a distal end and comprising:
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an elongated framework comprising a plurality of structural elements hingedly connected serially in end-to-end linked relationship to form a variable angle therebetween, each linked pair of elements comprising; a first element and a second element; a hinge that hingedly connects an end of the first element to an end of the second element, thereby allowing one degree of freedom for rotational movement about a hinge axis for the first element and the second element relative to each other; a bias in the direction of minimizing the angle between the first element and the second element; a flexible elongated chamber that extends along a portion of the first element'"'"'s length, across the hinge, and along a portion of the second element'"'"'s length; and a portion of the first element that holds the chamber and a portion of the second element that holds the chamber such that the chamber, and the first and second elements, are constrained to move together;
wherein the chamber comprises;a flexible but non-expansible wall that is substantially non-permeable to a working fluid; an enclosed space within the wall; and a fluid conduit connected to the enclosed space for communicating a controlled pressure to the working fluid contained in the enclosed space, such that the chamber will tend to straighten in response to a pressurized working fluid therein, thereby exerting a force always in opposition to that of the bias. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for controlling movement of a mechanical actuator having a proximal end and a distal end, the method comprising the steps of:
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providing an elongated framework between the proximal end and the distal end, the framework comprising a plurality of structural elements hingedly connected serially in end-to-end linked relationship to form a variable angle therebetween; biasing the plurality of structural elements in the direction of minimizing the angle between each linked pair of elements; holding a flexible, non-expansible, non-permeable elongated chamber to portions of the elongated framework, such that the chamber extends across at least one hinge, thereby constraining the chamber, and the framework that is linked by the at least one hinge, to move together; and supplying a pressurized working fluid to the interior of the chamber for straightening the at least one hinge always in opposition to the bias. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A fluid-powered mechanical actuator having a proximal end and a distal end and comprising:
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a base at the proximal end comprising a structural element oriented in a selected direction; and a flexible elongated chamber that is attached to the structural element and extends beyond the structural element to the distal end of the actuator;
wherein the chamber comprises;a flexible but non-expansible wall that is substantially non-permeable to a working fluid; an enclosed space within the wall; and a fluid conduit connected to the enclosed space for communicating a controlled pressure to the working fluid contained in the enclosed space such that when sufficiently pressurized the elongated chamber will tend to extend substantially linearly outward from the base in the selected direction. - View Dependent Claims (19, 20)
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Specification