Systems, methods, and apparatus for rotary vane actuators

A system comprising:

• a first housing having a first internal surface defining a first internal cavity, and the first internal cavity having a substantially circular cross sectional curvature;
• a first rotor coupled to the first housing, the first rotor including a first plurality of slots each having a substantially circular curvature, and the first rotor being configured to rotate within the first housing in response to an application of a first rotational force;
• a first plurality of vane disks partially disposed within the first plurality of slots of the first rotor, the first plurality of vane disks each having a substantially circular external geometry, the first plurality of vane disks each being mechanically coupled to the first rotor via the first plurality of slots, and the first plurality of vane disks being configured to form a first plurality of seals with the first internal surface of the first housing;
• a first plurality of separator devices included in the first internal cavity of the first housing, the first plurality of separator devices being configured to form a second plurality of seals with the first internal surface of the first housing and a third plurality of seals with an external surface of the first rotor, the first plurality of separator devices being configured to transfer hydraulic fluid between at least the first internal cavity and an external reservoir;
• and
• a hydraulic pump configured to pump hydraulic fluid between the first internal cavity and the external reservoir via a first plurality of ports included in the first plurality of separator devices.

A method of constructing a hydraulic actuator, the method comprising:

• providing at least one vane disk and a rotor, the rotor including at least one slot having a first geometry determined based on an external geometry of the at least one vane disk, the external geometry of the at least one vane disk being substantially circular;
• including the at least one vane disk in the rotor via the at least one slot such that the at least one vane disk is at least partially disposed within the rotor;
• including the at least one vane disk and the rotor in an internal cavity of a housing, the internal cavity having a second geometry determined based on the external geometry of the at least one vane disk, and the at least one vane disk forming a first seal with the internal surface of the housing;
• and
• including at least one separator device in the housing, the at least one separator device forming a second seal with an internal surface of the housing and a third seal with an external surface of the rotor.