Inflatable robotics is a promising area for the deployment of low-cost structures that are easy to transport and deploy while allowing safe interactions with humans and the environment. One of the key elements in the development of inflatable robots is their actuation system. In this work, we introduce the original concept of a Simultaneous Eversion-Retraction Inflatable Actuator, used in the actuation of an inflatable joint of a long-range manipulator. Through an analytical study, simple relations about the total stroke and the effective area are obtained. These relations are compared to finite elements simulations and contrasted with experimental data obtained from tensile tests of an actuator prototype. The results show that the proposed design outperforms existing concepts in terms of total stroke and force distribution through the entire stroke, which makes it suitable for the actuation of long reach inflatable arms.

中文翻译：

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一种基于同时外翻回缩的新型充气作动器

充气机器人技术是部署低成本结构的一个有前途的领域，这些结构易于运输和部署，同时允许与人类和环境进行安全交互。充气机器人开发的关键要素之一是其驱动系统。在这项工作中，我们介绍了同时外翻-回缩充气执行器的原始概念，用于驱动远程机械手的充气关节。通过分析研究，得到了总行程和有效面积的简单关系。这些关系与有限元模拟进行比较，并与从执行器原型的拉伸测试中获得的实验数据进行对比。