Fluid actuated limb

#1. Technical Field

#This invention relates to a fluid actuated limb which upon selective introduction of fluid pressure will perform movements either alone or in combination including longitudinal extension or contraction, transverse bending, and clockwise or counter-clockwise rotation about the longitudinal axis of the limb. Moreover, the limb possesses optimal geometric proportion in order to provide for maximum inherent strength to carry a load at its load-engaging end while maintaining the self-weight of the limb to a minimum. This invention is particularly directed to a fluid actuated limb having great strength and substantially universal movement capabilities in order to lend it to use in the robotics field for multiple applications including manipulating arms, legs for walking machines, and as grippers on the end of arms for holding or manipulating objects.

#2. Background Art

#Some of the objects of the invention having been stated, other objects will become evident as the description proceeds, when taken in connection with the accompanying drawings, in which:

#FIG. 1 is a cross-sectional view of a first embodiment of the fluid actuated limb of the present invention;

#FIG. 2 is a side elevation view, with parts broken away for clarity, of the first embodiment of the fluid actuated limb of the present invention;

#Referring now to the drawings, a first embodiment of the present invention, indicated generally as 10, is shown in FIGS. 1 and 2. Fluid actuated limb 10 is intended to be connected at base or end A to a support and suitable fluid pressure supply source (not shown) which is conventional and a matter of design choice. The remote or load carrying end B of fluid actuated limb 10 is intended to be connected to a payload by conventional means (not shown) known to those familiar with the robotics art.

#With reference to FIGS. 1 and 2, it can be seen that fluid actuated limb 10 comprises five basic elements. An elongate flexible core member 12 is the central member of limb 10 and may be either a bellows or a smooth, flexible tube that, as a matter of design choice, may include strength reinforcement elements therein. Surrounding core member 12 are six satellite bellows 14 which extend parallel to and substantially coextensive with the length of core member 12. As will be explained more fully hereinafter, satellite bellows 14 are each tapered from end A to end B of limb 10 so as provide a desired geometric design to limb 10 which results in a maximum ratio of payload to limb weight. An alternate design choice has core element 12 tapered with satellite bellows 14 each of constant cross sectional area. Although six satellite bellows 14 are shown in the drawings, it is contemplated that from four to eight satellite bellows 14 could be incorporated into the limb of the present invention.

#Eighteen bellows 16 are helically wrapped around satellite bellows 14 in a constant pitch right hand helix (see FIG. 2). Although eighteen bellows are shown in the drawings, it is contemplated that from four to twenty bellows 16 could be utilized. Eighteen bellows 18 are helically wrapped around bellows 16 in a constant left hand helix configuration, but it is contemplated that from four to twenty bellows 18 could be utilized. A resilient material 20, most suitably a polymeric material, is provided to fill the interstices between the elements of limb 10. Also, although not shown in the drawings, reinforcement elements such as metal wire, NYLON, KEVLAR, or other suitable strength materials could be molded or otherwise incorporated into bellows 14, 16 and 18 as well as resilient polymeric material 20. All of the elements described hereinbefore which comprise limb 10 are bonded together in a suitable matter at points of contact therebetween. The bonding serves to provide integrity to fluid actuated limb 10 as it extends and contracts, bends add rotates during movement of a payload.