Fluidic actuator manufacturing method

Abstract

A method of constructing an inflatable fluidic actuator. The method includes coupling a first interface to a tube configuration of membrane material at a first tube end by coupling the first interface to the tube configuration at the first tube end by generating at least one of: a first bond between the membrane material and one or more first sidewalls of the first interface and a first external face bond between membrane material at the first tube end onto a first external face of the first interface.

What is claimed is: 
     
         1 . A method of constructing an inflatable fluidic actuator, the method comprising:
 generating a tube configuration with one or more shapes of membrane material, the tube configuration having a first tube end and a second tube end and an internal tube face and external tube face;   coupling a first interface to the tube configuration at the first tube end by: coupling the first interface to the tube configuration at the first tube end by generating at least one of:
 a first bond between the membrane material and one or more first sidewalls of the first interface; and, 
 a first external face bond between membrane material at the first tube end onto a first external face of the first interface; and 
   coupling a second interface to the tube configuration at the second tube end by: coupling the second interface to the tube configuration at the second tube end by generating at least one of:
 a second bond between the membrane material and one or more second sidewalls of the second interface, and 
 a second external face bond between membrane material at the second tube end onto a second external face of the second interface. 
   
     
     
         2 . The method of  claim 1 , wherein the membrane material is fluid-impermeable. 
     
     
         3 . The method of  claim 1 , wherein:
 coupling the first interface to the tube configuration at the first tube end comprises generating a first circumferential bond between the membrane material and one or more first sidewalls of the first interface; and   coupling the second interface to the tube configuration at the second tube end comprises generating second circumferential bond between the membrane material and one or more second sidewalls of the second interface.   
     
     
         4 . The method of  claim 1 , wherein coupling the first interface to the tube configuration at the first tube end includes inserting the first interface into the tube configuration at the first tube end with one or more first sidewalls of the first interface circumferentially engaging a first portion of the internal tube face at the first tube end, and
 wherein coupling the second interface to the tube configuration at the second tube end includes inserting the second interface into the tube configuration at the second tube end with one or more second sidewalls of the second interface circumferentially engaging a second portion of the internal tube face at the second tube end.   
     
     
         5 . The method of  claim 1 , wherein the membrane material is an inextensible and flexible sheet. 
     
     
         6 . The method of  claim 1 , further comprising applying one or more external constraints surrounding a length of the external tube face between the first and second tube ends, the one or more external constraints limiting expansion of the tube configuration during inflation of the tube configuration. 
     
     
         7 . The method of  claim 1 , wherein generating the tube configuration with the one or more shapes of membrane material comprises welding portions of the one or more shapes together to generate the tube configuration via one or more welds. 
     
     
         8 . The method of  claim 7 , wherein the one or more welds comprise a plurality of peel welds coupling sections of membrane material on opposing sides of respective peel welds of the plurality of peel welds that are prevented from extending away from each other no more than 45 degrees when the tube configuration is at a maximum inflation state. 
     
     
         9 . A method of constructing an inflatable fluidic actuator, the method comprising:
 coupling a first interface to a tube configuration of membrane material at a first tube end by:   coupling the first interface to the tube configuration at the first tube end by generating at least one of:
 a first bond between the membrane material and one or more first sidewalls of the first interface; and, 
 a first external face bond between membrane material at the first tube end onto a first external face of the first interface. 
   
     
     
         10 . The method of  claim 9 , further comprising coupling a second interface to the tube configuration at a second tube end by:
 coupling the second interface to the tube configuration at the second tube end by generating at least one of:
 a second bond between the membrane material and one or more second sidewalls of the second interface, and 
 a second external face bond between membrane material at the second tube end onto a second external face of the second interface. 
   
     
     
         11 . The method of  claim 9 , further comprising generating the tube configuration of membrane material, the tube configuration having the first tube end and a second tube end and an internal tube face and external tube face. 
     
     
         12 . The method of  claim 11 , wherein generating the tube configuration with the one or more shapes of membrane material comprises welding portions of the one or more shapes together to generate the tube configuration via one or more welds. 
     
     
         13 . The method of  claim 12 , further comprising reinforcing the one or more welds by sewing stiches along the one or more welds and making the stiches fluid impermeable by applying one or more of an adhesive or a fluid-impermeable membrane material to the stiches. 
     
     
         14 . The method of  claim 12 , wherein the one or more welds comprise one or more peel welds coupling sections of membrane material on opposing sides of respective one or more peel welds of the one or more of peel welds that are prevented from extending away from each other no more than 45 degrees when the tube configuration is at a maximum inflation state. 
     
     
         15 . The method of  claim 9 , wherein the membrane material is fluid-impermeable. 
     
     
         16 . The method of  claim 9 , wherein coupling the first interface to the tube configuration at the first tube end comprises generating a first circumferential bond between the membrane material and one or more first sidewalls of the first interface. 
     
     
         17 . The method of  claim 9 , wherein coupling the first interface to the tube configuration at the first tube end includes inserting the first interface into the tube configuration at the first tube end with one or more first sidewalls of the first interface circumferentially engaging a first portion of an internal tube face at the first tube end. 
     
     
         18 . The method of  claim 9 , wherein the membrane material comprises an inextensible and flexible sheet. 
     
     
         19 . The method of  claim 18 , wherein the membrane material comprises an inextensible and flexible sheet of woven fabric. 
     
     
         20 . The method of  claim 9 , further comprising applying one or more constraints about a length of an external tube face of the tube configuration of membrane material, the one or more constraints limiting expansion of the tube configuration during inflation of the tube configuration.