FLEXIBLE ROBOTIC LINKS AND MANIPULATOR TRUNKS MADE THEREFROM

摘要

Single or multiple flexible robotic manipulatortrunks can be made from individually activated, threedegree-of-freedom, flexible robotic links. Threedimensionalpositioning and orientation of the distal end of each linkis achieved exclusively by elastic deformation of theflexible link assembly without revolute or prismatic joints.The activating bending and torsional moments required forsuch a positioning are generated by the antagonistic actionof a plurality of prestressed, inflatable, laterallybendable and axially extensible tubular actuators with theanisotropic, circumferentially reinforced walls. Thepositioning motion, working forces and manipulator armstiffness are all controlled by asynchronously modulatedpulse streams which regulate the distribution of energy froma common source of fluid under constant pressure.