We present a novel, fluid-driven rotary-rolling diaphragm actuator with direct rotary output. Its working principle is inspired by the spider leg's hydraulically operated joints and the diaphragm design of rolling diaphragm actuators. The new actuator is fully sealed, shows minimal output torque losses, and minimum friction during operation. Stiction and Coulomb friction are avoided by design. Our proposed mechanism can be used as a compliant actuator in soft robots, or as a stiff transmission device, depending on the fluid and working pressure. The rotary-rolling diaphragm is the defining component of the actuator. The diaphragm is based on silicone rubber, reinforced by a fabric with anisotropic tensile strength characteristics. The diaphragm is custom-designed to follow the actuator's toroidal shape and to ensure the smooth unrolling behavior throughout the stroke. Our actuator outputs a constant torque throughout its stroke compared with monolithic, rotary soft robot actuators with a change in torque. Our design offers a high mechanical efficiency of 95%, compactness, a wide working range of 100°, and a low mechanical complexity from a single chamber.

中文翻译：

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具有线性扭矩特性和高机械效率的新型蜘蛛式旋转滚动隔膜执行器

我们提出了一种具有直接旋转输出的新型流体驱动旋转滚动隔膜致动器。它的工作原理受到蜘蛛腿的液压操作接头和滚动隔膜执行器的隔膜设计的启发。新的执行器是完全密封的，输出扭矩损失最小，运行过程中摩擦最小。通过设计避免了静摩擦和库仑摩擦。我们提出的机制可以用作软机器人中的顺应执行器，也可以用作刚性传动装置，具体取决于流体和工作压力。旋转滚动膜片是执行器的定义组件。隔膜基于硅橡胶，由具有各向异性拉伸强度特性的织物加固。隔膜是定制设计的，以跟随执行器' s 环形形状并确保整个行程的平滑展开行为。与扭矩变化的单片旋转软机器人执行器相比，我们的执行器在整个行程中输出恒定扭矩。我们的设计提供了 95% 的高机械效率、紧凑性、100° 的宽工作范围以及来自单个腔室的低机械复杂性。