| 摘要 |
A double-acting deformable fluid actuator with three chambers consists of three axisymmetrical coaxial membranes ( 10, 11 and 12 ), constrained by two end pieces ( 13 and 14 ) so as to identify three chambers, namely, an inner chamber ( 15 ), an intermediate chamber ( 16 ), and an outer chamber ( 17 ); each chamber is supplied with fluid under pressure through respective connectors ( 18, 19 and 20 ) set on one of the end pieces.
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