Devices and systems for producing rotational actuation

Abstract

Devices and systems for producing rotational actuation are described. More specifically, hydraulic and pneumatic actuators that can produce and control rotational or joint-like motion are described. An actuator may include a torus shaped cylinder configured to enable rotation of the actuator. An actuator may further include both a piston configured to rotate from a first end of the torus shaped cylinder to a second end of the torus shaped cylinder and a piston rod coupled to the piston.

1 . A dual directional actuator comprising:
 a torus shaped cylinder configured to enable rotation of the dual directional actuator, the torus shaped cylinder having a first end and a second end, the first end including a first endcap and the second end including a second endcap;   a piston configured to rotate from the first end of the torus shaped cylinder to the second end of the torus shaped cylinder, the piston including a first piston chamber and a second piston chamber; and   a piston rod coupled to the piston, the piston rod extending from the first chamber of the piston to the second chamber of the piston.   
     
     
         2 . The dual directional actuator of  claim 1 , wherein the piston and the piston rod form a continuous uninterrupted torus. 
     
     
         3 . The dual directional actuator of  claim 1 , wherein the dual directional actuator comprises a hydraulic actuator for producing rotary motion. 
     
     
         4 . The dual directional actuator of  claim 1 , wherein the endcaps include a through-hole that matches a radius of the piston rod and is configured to receive the piston rod. 
     
     
         5 . The dual directional actuator of  claim 1 , wherein the torus shaped cylinder includes a first fluid port on the first end and a second fluid port on the second end. 
     
     
         6 . The dual directional actuator of  claim 5 , wherein the first fluid port is in the first endcap and the second fluid port is in the second endcap. 
     
     
         7 . The dual directional actuator of  claim 1 , wherein the piston rod includes a first piston rod end and a second piston rod end, the first piston rod end being connected to the second piston rod end by a linkage mechanism. 
     
     
         8 . The dual directional actuator of  claim 1 , wherein the first piston chamber comprises a piston extension chamber and the second piston chamber comprises a piston retraction chamber. 
     
     
         9 . The dual directional actuator of  claim 8 , wherein the piston rod comprises a continuous toroidal piston rod extending from the piston extension chamber to the piston retraction chamber. 
     
     
         10 . The dual directional actuator of  claim 9 , wherein torus shaped cylinder has a matching tongue and groove with the first endcap and the second endcap, the matching tongue and groove being configured to keep the torus shaped cylinder in alignment with the first endcap and the second endcap. 
     
     
         11 . The dual directional actuator of  claim 1 , wherein the piston separates the torus shaped cylinder into a first chamber configured to fill the torus shaped cylinder with a fluid media and a second chamber configured to drain the fluid media from the torus shaped cylinder to thereby cause rotational motion. 
     
     
         12 . The dual directional actuator of  claim 11 , wherein the torus shaped cylinder includes a port for filling and draining each of the first chamber and the second chamber. 
     
     
         13 . The dual directional actuator of  claim 1 , wherein the piston rod includes a linkage mechanism configured to apply torque from the actuator. 
     
     
         14 . The dual directional actuator of  claim 1 , further comprising a housing configured to retain the torus shaped cylinder inside the housing. 
     
     
         15 . The dual directional actuator of  claim 14 , wherein the housing couples the first endcap and the second endcap to the torus shaped cylinder. 
     
     
         16 . A dual directional actuator comprising:
 a piston comprising a piston extension chamber and a piston retraction chamber; and   a piston rod coupled to the piston, the piston rod extending from the piston extension chamber to the piston retraction chamber, the piston and piston rod comprising a continuous uninterrupted torus.   
     
     
         17 . The dual directional actuator of  claim 16 , further comprising a torus shaped cylinder that includes the piston and piston rod. 
     
     
         18 . The dual directional actuator of  claim 17 , wherein an end cap is inserted onto the piston rod and coupled to the torus shaped cylinder of claim, the endcap including a through-hole having a radius approximately a same size as a radius of the toroidal piston rod. 
     
     
         19 . The dual directional actuator of  claim 17 , wherein the torus shaped cylinder includes a first endcap and a second endcap. 
     
     
         20 . The dual directional actuator of  claim 19 , wherein the first endcap includes a first fluid port and the second endcap includes a second fluid port, the first fluid port and the second fluid port being configured to facilitate actuation of the dual directional actuator using fluid media.