Multi-set fine walking actuator

摘要

The present invention discloses an electromechanical actuator arrangement (10) and a method for driving such arrangement, having a plurality of drive elements (14a-d) according to a walking mechanism in a motion relative a body (22). A driving portion of the drive elements (14a-d) are independent movable tangentially and normally to the body (22) surface. The drive elements (14a-d) are driven in the fours cycle steps; gripping, moving the body, releasing and returning to the original position. The drive elements (14a-d) are divided into more than two exclusive sets. The driving of the sets is phase shifted. At least one of the sets is in contact with the body (22) surface at each instant. The present invention is characterised in that the driving of the drive elements (14a-d) during the gripping sequence is performed in such a way that the drive elements (14a-d) have a velocity, which has a significant tangential component.