Static Characteristics of Fire Hose Actuators and Design of a Compliant Pneumatic Rotary Drive for Robotics
Johannes T. Stoll,Kevin Schanz,Michael Derstroff,Andreas Pott,Johannes T. Stoll,Kevin Schanz,Michael Derstroff,Andreas Pott
In this work, we present and explain in detail the design of a new type of pneumatic actuator made of fire hose, the fire hose actuator (FHA), see Fig. 1. We model the force output of this type of actuator and we compare the theoretic results to the data measured on the laboratory test stand.Furthermore, we present the design of a pneumatic rotary drive that is actuated by four of the above-mentio...
