Elastomeric Bellows Hydraulic Actuator with Integrated Electrorheological Control Valves

A. Breitfeld, H. Freyer, S. Ulrich, J. Wulfsberg, R. Bruns
Helmut-Schmidt-Universität Hamburg, Hamburg, Germany

Abstract:
This paper describes an integrated micro-fluidtronical bellow actuator drive based on an electrorheological suspension for the propulsion of a limbless, peristaltic locomotion system. Following a bionically inspired worm-like design concept the locomotion system consists of several independent actuator modules that make different limbless locomotion strategies possible. The use of an electrorheological suspension, a Smart Fluid, as hydraulic liquid enables the design and construction of extremely robust micro gap valves with a high speed switching capacity on the primary actuator side. The secondary actuator, on the other side, is realized by an elastomeric hydraulic bellow that houses the valves, seals the hydraulic system from external influences and conducts the axial displacement necessary for the actuator‘s main function.