A Novel Spider-Inspired Rotary-Rolling Diaphragm Actuator with Linear Torque Characteristic and High Mechanical Efficiency.

ABSTRACT: We present a novel, fluid-driven rotary-rolling diaphragm actuator with direct rotary output. Its working principle is inspired by the spider leg's hydraulically operated joints and the diaphragm design of rolling diaphragm actuators. The new actuator is fully sealed, shows minimal output torque losses, and minimum friction during operation. Stiction and Coulomb friction are avoided by design. Our proposed mechanism can be used as a compliant actuator in soft robots, or as a stiff transmission device, depending on the fluid and working pressure. The rotary-rolling diaphragm is the defining component of the actuator. The diaphragm is based on silicone rubber, reinforced by a fabric with anisotropic tensile strength characteristics. The diaphragm is custom-designed to follow the actuator's t

SUBMITTER: Hepp J 

PROVIDER: S-EPMC9057910 | biostudies-literature | 2022 Apr

REPOSITORIES: biostudies-literature