Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness

   
   

An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.

Um instrumento para atravessar os obstáculos que têm um corpo alongado, redondo, flexível que incluísse um plurality dos segmentos interconectou por um conjunto de atuador comum integrado. O conjunto de atuador comum integrado inclui um plurality do fole-tipo atuadores que acoplam individualmente segmentos adjacentes para permitir a atuação pivotal do instrumento therebetween. Um controlador está empregado para manter o controle posicional apropriado e o controle da rigidez quando minimize o fluxo de ar.

 
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