Fluidic actuator and method of manufacture

摘要

A small, flexible fluidic actuator is presented which may be of millimeter scale in size and made of suitable flexible materials such as silicone. A manufacturing method and two analytical models for the device along with experimental test results are also disclosed. The flexible fluidic actuator devices disclosed include multidirectional fluidic actuator joints providing independently controllable multi-directional actuation movement. The dynamic behavior of the joints for various pressure loads was also characterized and described herein.

主权项

1. A multi-directional fluidic actuator comprising:
a first actuator member extending along a first longitudinal axis of the actuator to provide actuation in a first plane, and a second actuator member extending along a second longitudinal axis of the actuator to provide actuation in a second plane; said first actuator member comprising a first fluid channel embedded in a first elastically extensible material which comprises a plurality of fluidly connected channels extending substantially perpendicular to said first longitudinal axis of said actuator; a first substantially inextensible and flexible backbone member attached to said first elastically extensible material adjacent to the first fluid channel; wherein said first backbone member extends substantially parallel to said first longitudinal axis of said actuator to provide actuation in said first plane by elongation of said first elastically extensible material under pressurization of said first fluid channel; and said second actuator member comprising: a second fluid channel embedded in a second elastically extensible material which comprises a plurality of fluidly connected channels extending substantially perpendicular to said second longitudinal axis of said actuator; a second substantially inextensible and flexible backbone member attached to said second elastically extensible material adjacent to the second fluid channel; wherein said second backbone member extends substantially parallel to said second longitudinal axis of the actuator to provide actuation in said second plane by elongation of said second elastically extensible material under pressurization of said second fluid channel.