Non-linear actuator system and method

Abstract

An embodiment of a system and method for moving an object in one axis includes one or more fluid inflatable containers which are arranged to transmit fluid pressure to a plunger, such that a flexible membrane of the fluid inflatable container engages with the plunger and forms a rolling lobe in response to changes in volume. The fluid inflatable containers are enclosed within an enclosure or drum, and a shaft runs axially through the center of the enclosure. The system further includes one or more control valves operably connected to the one or more fluid inflatable containers for controlling the volume of fluid in the one or more containers. By changing the volume of fluid in the one or more containers the object is moved. In an embodiment an arced plunger is used to assist in creating the rolling lobe.

1 - 60 . (canceled) 
     
     
         61 . A system for moving an object about one axis, comprising:
 a support structure;   a cylindrical drum operatively connected to the support structure;   a shaft running axially through the center of the drum, the shaft operatively connected to the object;   one or more supports for the shaft such that the shaft may turn freely within the drum;   a shaft vane fixed to the shaft, running longitudinally along the shaft and extending radially to the inner wall of the drum;   a drum vane fixed to the drum. running longitudinally along the inner wall of the drum and extending radially towards the outer surface of the shaft;   two fluid inflatable containers placed inside the drum between the shaft vane and the drum vane such that expansion of one of the two fluid inflatable containers exerts force simultaneously upon the shaft vane and the drum vane;   two plungers each having two ends that are non-adjacent and a mid-portion extending between the two ends, each of the mid-portions having an arced exterior surface, each of the two plungers connected to one of the drum vane or the shaft vane, wherein a rolling lobe is formed by each of the fluid inflatable containers on the arced exterior surface of the plungers and circumscribes the mid-portion;   one or more control valves, operatively connected to the fluid inflatable containers;   an electronic pressure sensor connected to the fluid inflatable containers;   electronic actuators for the one or more control valves for pressurizing and depressurizing each of the fluid inflatable containers;   a source of compressed fluid connected operatively to each of the one or more control valves for pressurizing each of the fluid inflatable containers;   electronic location sensor for determining a location of the object;   a computer, having a processor and a memory, that controls motion of the object by electronically actuating the one or more control valves in response to signals received from the electronic pressure sensor and the electronic location sensor and records output values of the electronic pressure sensor and the electronic location sensor, and positions of the one or more control valves through electromagnetic signals; and   wherein one of the shaft vane or drum vane moves in a radial direction in response to the exerted force and moves the object.   
     
     
         62 . The system of claim  1  wherein each of the plungers is arced in shape and the arc between the two ends is between 35 degrees and 85 degrees. 
     
     
         63 . The system of claim  1  wherein each of the plungers rotates more than 30 degrees in a circular motion. 
     
     
         64 . The system of claim  1  wherein each of the plungers comprises a hollow shell. 
     
     
         65 . The system of claim  1  wherein each of the plungers has a contiguous and closed exterior surface. 
     
     
         66 . The system of claim  1  wherein each of the fluid inflatable containers further comprises a rigid portion. 
     
     
         67 . The system of claim  1  wherein the fluid inflatable containers are fixed to the plungers. 
     
     
         68 . The system of claim  1  wherein the fluid inflatable containers are operably connected to the plungers. 
     
     
         69 . The system of claim  1  wherein one of the fluid inflatable containers is fixed to a reference. 
     
     
         70 . The system of claim  1  wherein one of the fluid inflatable containers further comprises a pocket to fit around one of the two ends of one of the plungers. 
     
     
         71 . The system of claim  1  wherein deflating one of the fluid inflatable containers causes one of the plungers to plunge into the one fluid inflatable container and inflating the one fluid inflatable container causes the one plunger to be expelled by the one fluid inflatable container. 
     
     
         72 . The system of claim  1  wherein by changing a volume of fluid in one of the fluid inflatable containers, the object is moved relative to a reference. 
     
     
         73 . The system of claim  1  wherein the fluid inflatable containers are filled with hydraulic fluid. 
     
     
         74 . The system of claim  1 , further comprising a photovoltaic power source that supplies power to the computer. 
     
     
         75 . The system of claim  1 , wherein the system provides movement in two axes, the one axis and a second axis that is orthogonal to the one axis, and wherein the system further comprises a non-linear actuator with movement in the second axis. 
     
     
         76 . The system of claim  1 , further comprising a non-linear actuator, wherein the second non-linear actuator is concatenated so that the non-linear actuator causes additional non-linear movement.