| 摘要 |
An actuator for use in operating robots or manipulators includes a thin-walled inner cylinder (1) made of a rubber-like elastic material and an extensible and contractible reinforcing braided structure (2) surrounding the inner cylinder. The actuator is contracted to obtain contractive force when pressurized fluid is supplied into the inner cylinder to expand it in its radial direction, while changing the braided angles of the braided structure. According to the invention, the braided structure is made of a knotless net (18), thereby eliminating hysteresis loss of the braided structure to reproduce contractive forces and contraction coefficients with high accuracy. Intersections (19, 20) of strands of the knotless net are preferably coated or impregnated with a lubricant, thereby more effectively decreasing the hysteresis loss of the braided structure. |
