MODULAR MULTI-SENSORY FLUIDIC ACTUATOR WITH PLEATED ROTARY ELASTIC CHAMBERS

This paper describes the concept and development of a new fluidic rotary actuator with natural compliance, intended for industrial automation devices and robots working in human environment. The actuator comprises few fully integrated modules with matched mechanical, electrical and software interfaces. The core element of the actuator is newly developed fluidic motor with pleated rotary elastic chambers, which replace rigid chambers of the conventional vane motor. Compact mechatronic module in hydraulic realization is presented, while considering pneumatic realization also. Due to its modular design and inherent compliance, the actuator is particularly suitable for building complex kinematic structures, as for example soft robotic arms.