A simplified and improved pistonless cylinder based on an Aramid fiber reinforced elastomer tubular which is highly stiff in radial direction against radial expansion and elastic in axial extension, so as to form a completely sealed and extendable pressure chamber and to be able to perform as well as, or better than, most of the conventional hydraulic cylinders in terms of load bearing capacities, maximum stroke distances and service durability. This simplified cylinder employs no piston, piston rod, sealing seals or oil based hydraulic fluid, and utilizes non-metal materials to construct the majority of the parts for its extendable pressure chamber; therefore, this new cylinder can achieve significant weight and fabrication cost reduction. In addition, this new pistonless cylinder uses ordinary liquids, e.g., fresh water or seawater, as its hydraulic fluid, and can work directly as a hydraulic or pneumatic cylinder interchangeably without a need for much, if any, modification.

A bale chamber includes: movable density doors; at least one fluid cylinder including a fluid chamber, a piston separating the fluid chamber into a piston side and a rod side, a cylinder rod coupled to the piston on the rod side and configured to move at least one of the density doors, a piston fluid port, and a rod fluid port; and a fluid supply circuit fluidly coupled to the fluid chamber and configured to supply working fluid to the fluid chamber, the fluid supply circuit including a fluid supply controller that is selectively switchable to a first fluid supply mode and a second fluid supply mode, the fluid supply circuit being configured to supply working fluid to only the piston side when in the first fluid supply mode and to supply working fluid to both the piston side and the rod side when in the second fluid supply mode.

A rotary actuator and a method of additively manufacturing the same are provided. The rotary actuator includes a valve housing defining a valve chamber and a shaft channel extending from the valve chamber. A valve body includes a valve shaft extending through the shaft channel and a valve head positioned within the valve chamber and defining a head width that is larger than the channel diameter to inseparably join the valve body and the valve housing. The valve head divides the valve chamber into a first chamber and a second chamber which are in fluid communication with a first port and a second port, respectively. The valve body is rotated by adjusting a fluid pressure within at least one of the first chamber and the second chamber.

Disclosed here is a system and method to control multiple eversion-based actuators using a single motor, or no motor, thereby reducing the size and cost of the multiple eversion-based actuators. An activation mechanism can include a motor rotating in an expansion direction, rotating shaft, clutch, brake, pressure source under high pressure, and/or valve. The activation mechanism can cause the actuators including a wound reel of material to unwind and lengthen. A retraction mechanism can include a motor rotating in a contraction direction opposite the expansion direction, rotating shaft, clutch, pressure source having low pressure, valve associated with the pressure source, and/or the passive retraction system. The retraction mechanism can cause the actuators to rewind and shorten.

A valve assembly with at least two valve modules is described, wherein the valve modules are arranged one beside the other in a line-up direction. The valve assembly also comprises an indicating device for displaying a state of the valve modules and/or of the valve assembly and/or of a component connected to the valve assembly. In the line-up direction the indicating device continuously extends over all valve modules.

A material-mapped actuator useful as, or as part of, a soft robot along with automated methods of design and manufacture. The actuator exhibits mechanical properties that spatially vary along a coordinate system of the actuator. The actuator body has an initial shape with a corresponding initial map of mechanical attributes consisting of locally-varying stiffness at each point in a volume of the actuator body. The actuator is configured to change to a different shape or distribution of mechanical properties upon being activated by an actuation medium. The map of mechanical attributes influences and determines the new shape or distribution. The material-mapped actuator can incorporate a spatially-varying distribution of mechanical properties that dictates multiple desired shapes as the actuation medium is applied, including an actuation sequence in which the actuator transitions from a first shape to a desired intermediate shape(s), and from the intermediate shape to a desired final shape.

An actuator is disclosed comprising: a moveable member; a first hydraulic chamber in contact with a first surface of the moveable member; a second hydraulic chamber in contact with a second, opposing surface of the moveable member; a movable locking mechanism coupled to a moveable wall of the second hydraulic chamber; and a resilient biasing member acting on the moveable wall of the second hydraulic chamber so as to bias the moveable wall and locking mechanism. The actuator is configured to selectively vary the pressure in the second hydraulic chamber so that the resilient biasing member is able to bias the moveable wall to move, thereby moving the locking mechanism to engage the moveable member so as to prevent the movement of the moveable member towards at least one of the first and second hydraulic chambers.

A pipe tool positioning system for efficiently inserting, positioning, and orienting a tool for use within a pipe. The pipe tool positioning system generally includes a sleeve with a receiver opening adapted to receive and removably retain a tool such as a grinder or the like. The sleeve includes radially-offset bladders extending outwardly from its outer surface. Each of the bladders may be individually inflated and/or deflated to aid in positioning of the tool within a pipe. A control unit may be provided with controllers for individually controlling each of the bladders. A camera may also be included adjacent to the sleeve to feed a display included with the control unit. By utilizing the present invention, various tools may efficiently be inserted and positioned for use within a pipe.

A negative pressure type actuator (4) includes a diaphragm (43), an output shaft (44) extending toward an opposite side of a negative pressure chamber (410), a stopper (46) provided such that the output shaft penetrates the stopper, and a stopper engagement portion (47) fixed to the output shaft. The stopper has a first contact surface (462) configured to contact a stopper engagement portion, and the stopper engagement portion has a second contact surface (471). The first contact surface (462) is formed in an arc shape in a section including the axis (X2) of the output shaft, and the second contact surface (471) is, in the section including the axis of the output shaft, formed in an arc shape with the same curvature as that of the first contact surface.

A method is disclosed wherein two sheets of a flexible, inelastic substance are sealed along a periphery thereof, creating an interior reservoir preferably containing two or more elongate chambers, organized normal to an axis of traction. The disclosed axis of traction is an axis along which the disclosed device reduces length as a medium is introduced into the reservoir. Further disclosed is a method by which one or more bladders of flexible, inelastic substance are woven through two or more preferably parallel strips or strings. The bladders are adapted to receive a preferably gaseous or liquid medium. As the medium is moved into the bladders, the flexible strips or stings are deformed to cause the strips or strings to have a reduced length along the axis of traction.

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