Abstract
This paper presents the invention and development of a new fundamental type of hydraulic actuator, aimed at delivering better actuation efficiency. This actuator is a flexible tube, composed of two different materials, which deflects while applying inner pressure. This concept is simple to produce, and allows adaptation of the deflected shape by the design parameters (radius, wall thickness, geometry, etc.). Among other applications, it is mostly suitable for the activation of fins of nature-like marine robots. Theoretical formulation, production of prototypes and actuation experiments are presented, as well as material hysteresis research and an application example.
Highlights
Hydraulic and pneumatic actuators are developed for a wide range of applications, including soft robotics and marine propulsion
Hydraulic actuators provide smooth motion with a simple mechanism composed of a minimal amount of parts
Some hydraulic actuators are inspired by natural muscles that contract and expand, often actuating a kinematic structure which performs a desired motion
Summary
Hydraulic and pneumatic actuators are developed for a wide range of applications, including soft robotics and marine propulsion. A different way to realize this motion is by limiting the elongation of a flexible shell or tube, in which pressure is applied An example of this is the FPA [8], which consists of a flexible rubber tube and an internal spiraling steel wire which allows only for axial elongation of the actuator. [11] describes series of PBAs motion This setup allows the actuators can yield bending, twisting, and translation when controlled properly. Such a is formation of a propulsive wave in order to provide thrust. The following section presents the ideas and principles of the HELM and clarifies its activate a fishlike fin, at a desired motion to obtain thrust.
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