Adaptive structures for manipulation in clean room

Advances in development of linkage integrated tubular actuators for gripping, wrapping, and general manipulation purposes are described in this paper. Analytical and FE models are presented. The mechanical architecture based on structural part called "elastic joint" is actuated inserting tubular elements. System embedding tubular actuators obtaining the "joint actuator" is described in the paper. The tube is a sealed tight system which prevents incoming pollution due to the actuation system. No leakage problems are issued, the actuator is suitable for common clean procedures which fit the standards in clean-room environment. The motion. system investigated use only "pipe shaped actuators", avoiding the architectures with dynamic sealing. Investigated fluidic actuator is suitable for manipulation in clean room and it could be used in general purposes mechatronic systems as well