A multilinear actuator transmits a force in several directions, and includes complementary actuating strands made of flexible material and provided on a first face with spaced studs, the actuating strands being located opposite each other, the studs meshing with one another, and transverse faces of one stud bear against respective rear and front transverse faces of adjacent studs of the other actuating strand, defining a straight section in which the two actuating strands are rigidly connected, so that the straight section behaves like a rigid bar, said actuating strands including on an outer face, regularly spaced teeth, the actuator including one driving member per actuating strand, meshing with the teeth of the second face of one of said actuating strands to translate said actuating strand, the actuator including a straight section and a straight section in which the actuating strands are meshed, and a curved region located between the straight sections in which the actuating strands are spaced apart.

A multi-joint arm mechanism includes an arm supporting member a first, second and third joints. The third joint has a linear extension and retraction axis. The third joint includes flat-shaped first structures bendably coupled to one another, second structures having a C-shaped section and bendably coupled to one another, a supporting member supporting the stiffened first and second structures, and a drive member sending and drawing the stiffened first and second structures. The first and the second structures are linearly stiffened by being in contact with each other and return to a bent state by being separated from each other. The second structures are bent toward the bottom parts and conveyed into the arm supporting member. The first structures are bent in a same direction as the second structures and conveyed into the arm supporting member. The first structures are stored in the arm supporting member along the second structures.

A purpose is to improve storability of a plurality of connection pieces coupled bendably. A robot arm mechanism includes a revolute joint and a linear extension and retraction joint. The linear extension and retraction joint includes a plurality of first connection pieces coupled bendably and provided with a hollow square cross section and a plurality of second connection pieces coupled bendably and each shaped like a flat plate. The second connection pieces are overlapped on the first connection pieces in upper part of the first connection pieces, thereby forming a columnar body by constraining bending. The columnar body is released when the first connection pieces and the second connection pieces are separated from each other. An ejection section forms the columnar body by joining the first connection pieces to the second connection pieces and supports the columnar body. The plurality of first connection pieces are coupled at an upper part and a lower part of each piece to be folded in a zigzag pattern and stored in a base with top faces of adjacent first connection pieces folded on top of each other and bottom faces of adjacent first connection pieces folded on top of each other alternately.

A purpose is to improve movement characteristics of a linear extension and retraction mechanism. A robot arm mechanism includes a revolute joint and a linear extension and retraction joint. The linear extension and retraction joint includes a plurality of first connection pieces coupled together bendably on a bottom plate side and provided with a U-shaped cross section, and a plurality of second connection pieces coupled together bendably and each shaped like a flat plate. A foremost one of the plurality of second connection pieces is connected with a foremost one of the plurality of first connection pieces. The first and second connection pieces, when overlapped each other, form a columnar body by being constrained from bending. The columnar body is relaxed when the first and second connection pieces are separated from each other. An ejection section forms the columnar body by joining together the first and second connection pieces and supports the columnar body. A linear gear is formed on a surface of a bottom plate of each of the first connection pieces. A drive gear is engaged with the linear gears of the first connection pieces overlapped to the second connection pieces in the ejection section.

A linear extension and retraction mechanism includes a plurality of first connection pieces coupled together bendably; and a plurality of second connection pieces coupled together bendably, wherein back faces of the first connection pieces and back faces of the second connection pieces are overlapped each other, thereby generally forming a columnar body by constraining bending, and the columnar body is relaxed when the first and second connection pieces are separated from each other, the linear extension and retraction mechanism further including an ejection section adapted to support the columnar body.

An actuator includes first and second structural units arranged independently of one another. An engagement means is arranged in the first structural unit. A drive motor is in driving relationship to the engagement means and arranged in the first structural unit. An anti-backbend chain is in engagement with the engagement means, and a chain depot is arranged in the second structural unit.

The invention relates to an actuator with an anti-backbend chain, a drive motor, and a worm which can be driven by the drive motor and which comprises a helical groove. The anti-backbend chain has engagement means and is guided along the worm, and the chain is in engagement with the worm by means of the engagement means and the helical groove to drive the anti-backbend chain. Such an actuator should have a more compact design and should optionally exhibit less wear. For this purpose, the core diameter of the worm is larger than twice the distance from the motor axis to the motor exterior along which the anti-backbend chain is guided, and the anti-backbend chain is guided at least partly along the drive motor by means of the engagement means.

A multilinear actuator transmits a force in several directions, and includes complementary actuating strands made of flexible material and provided on a first face with spaced studs, the actuating strands being located opposite each other, the studs meshing with one another, and transverse faces of one stud bear against respective rear and front transverse faces of adjacent studs of the other actuating strand, defining a straight section in which the two actuating strands are rigidly connected, so that the straight section behaves like a rigid bar, said actuating strands including on an outer face, regularly spaced teeth, the actuator including one driving member per actuating strand, meshing with the teeth of the second face of one of said actuating strands to translate said actuating strand, the actuator including a straight section and a straight section in which the actuating strands are meshed, and a curved region located between the straight sections in which the actuating strands are spaced apart.

A thrust chain device that induces an open thrust chain with a thrust portion and a housing portion, a thrust chain guide on a thrust portion of the thrust chain, a driving sprocket provided with teeth interlocking with the thrust chain, and a storage space of the housing portion, is provided. The storage space is parallel to the thrust portion and located opposite the thrust portion, the driving sprocket interlocks bilaterally with the thrust chain in a symmetric manner on the side of the thrust portion and on the side of the housing portion, the chain includes a connection portion between the thrust portion and the housing portion, arranged at a distance from the sprocket, the driving sprocket is in contact with the thrust chain by surfaces in the shape of an involute of a circle, the surfaces belonging to the teeth, where one tooth meshes with the chain while defining a line of action having an angle with the thrust portion between −10° and 10°, and the guide includes contact surfaces in synthetic material.

An aircraft actuation system is disclosed that includes a pair of cylinders, a piston movably disposed in each cylinder, and a roller train that extends between the pistons in the two cylinders. A portion of the roller train is disposed beyond the cylinders to engage a pinion. Movement of the pistons in the two cylinders in opposite directions produces a corresponding movement of the roller train to in turn rotate the pinion. The roller train may be maintained in compression between its two ends by fluid pressure exerted on a common face of each of the pistons in the two cylinders. The cylinders may be disposed in non-colinear relation, including in parallel relation to one another. A guide may be used to maintain rollers of the roller train in a proper orientation for entry into a space between an outer race and the pinion.