Walking expansion actuator

Abstract

This invention is for an object moving actuator composed of a stack of independently controllable layers which convert thermal exobaric pulses into mechanical motion. Each layer can be a lifter for moving the stack normal to the object to be moved or a tangenter for moving the stack tangentially to the object. Each layer has a plurality of chambers having a heat source and a thermal expansive material contained therein. The heat source is controlled by a controller to generate a heat pulse which expands the thermal expansive material thereby moving a rolling barrier to make the layer move normally or tangentially. Preferably two pair of actuator stacks work together to alternately engage and move the object. The first pair makes contact with the object by lifter motion and moves the object by tangenter motion while the second pair is lifted off the object and retraces to get into position to contact and translate the object. When the actuator engages the object at the same speed the object is moving so that no frictional rubbing occurs, smooth walking motion is achieved.

Dependencies are inferred from the claim text.