A Novel Pneumatic Actuator With Tensairity
Author(s)
R. H. Luchsinger & M. Bräker
Abstract
Inspired by pressure driven locomotion in nature, a novel pneumatic actuator
concept is presented. Based on the principle of Tensairity, the actuator consists
of a conical inflated hull and a compression and a tension element that are tightly
connected to the hull. The flexible compression and tension elements are
stabilized by internal air pressure. Acting against gravity, a first proof of concept
demonstrator weighing only 300 g is able to lift a weight of 25 N a distance of
almost 70 cm with an internal air pressure of only 20 kPa. The efficiency of the
actuator is studied and optimized. Possible applications of the new actuator
concept are seen in locomotion, particularly in interactions with humans or
fragile objects.
Keywords: pneumatic actuator, Tensairity, efficiency.
1 Introduction
Pressure induced stability is a common concept in nature. As an example, the
green tissue of plants is stabilized by the cellular pressure. These plants start to
wilt under shortage of water, which results in a reduced cellular pressure. Next to
maintaining structural integrity, pressure is also used in nature for locomotion.
One interesting example is the leg of the spider. It was shown by different groups
that spiders stretch their legs by pumping blood from inside their body into the
cavity of the long thin leg by varying the blood pressure by up to a factor of ten
[1-4]. Maximal pressure values of 60 kPa have been observed. Some species can
stretch their legs at speed rates that enable the spider to jump [3]. Inspired by this
mechanism, the first pressure driven actuators were built [5].
A different approach to using pressure for actuators is inspired by the
functionality of muscles. The so called McKibben artificial muscles are made of
a tube like membrane that is reinforced by helically winded fibres [6]. Increasing
Keywords
pneumatic actuator, Tensairity, efficiency
Related Book
Other papers in this volume
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