A modular actuator with translational motion along an arc

Arctuator modules are modular actuators that provide translational motion along an arc. A motor mounted on one link of a parallelogram four-bar linkage directly drives the opposite link via a cable, gear, or friction drive. Any of the four links can be used as the base or output link, depending on whether relatively high force translational motion, relatively high motion range translational motion, or rotational motion is desired. Appropriately combining multiple modules yields devices that can provide planar or spatial translational motions. Concept designs that combine multiple Arctuator modules depict how the modules can be used for manipulation, fabrication, locomotion, and other applications. Experimental results demonstrate that a prototype Arctuator module is capable of accelerating a cantilevered load of double its own mass upward at 1 g.