HYDRAULICALLY DRIVEN ACTUATOR, HYDRAULICALLY DRIVEN ACTUATOR UNIT INCORPORATING THE SAME, AND HYDRAULICALLY DRIVEN ROBOT ASSEMBLED WITH THEM

摘要

PROBLEM TO BE SOLVED: To provide hydraulically driven actuators capable of "being flexibly controlled" and "performing flexible motion" according to the surrounding situations and provided with two aspects enabling "linear motion" and "curved motion" simultaneously and a robot assembled with them.;SOLUTION: The hydraulically driven actuator includes a first cylinder 10 and a second cylinder 20 whose cylinder chambers are filled with a liquid medium, a piston 30 having a hollow part 31 filled with a liquid medium, and a hydraulic pressure supply mechanism 40 supplying hydraulic pressure into a liquid medium space formed by the first cylinder 10, the piston 30 and the second cylinder 20. The piston 30 is formed of a flexible bendable material and can expand/shrink by cylinder-piston drive while being bent as a whole actuator 100. Further, it is preferable that the actuator is of a structure including a space limiter 50 controlling its extension and an elastic body 60 also.;COPYRIGHT: (C)2011,JPO&INPIT