HENRY M PAYNTER
Engineering in Reading, MA

4108050, Aug 22, 1978

May 17, 1976

5/686740

Henry M. Paynter - Reading MA

F01B 1904

92 48

Fluid-driven torsional operators for turning rotary valves such as ball valves, butterfly valves and the like and for turning similar devices which swing about a pivot axis, said torsional operators including an inflatable fluid-driven torsional actuator having an axially elongated, flexible, hollow, thin-walled elastic shell defining a fluid chamber with a plurality of inextensible flexible strands bonded to this thin-walled shell. These strands extend between the shell ends and are anchored to axially opposed coupling members which are fixed to and in fluid-tight sealing engagement with the opposite ends of the shell. When the torsional actuator is deflated, its flexible shell and the strands bonded thereto are helically twisted or coiled through a predetermined initial angle, and when the chamber within the shell is inflated the shell expands, causing the strands to bow outwardly along arcuate paths and the shell to uncoil, thereby relatively rotating the axially opposed coupling members for turning the valve or other device connected to the coupling members. The predetermined angle through which the shell and strands are initially twisted when the shell is deflated may be selected in accordance with the requirements of the device being turned by the operator embodying the present invention. The opposed coupling members are mounted for relative rotation in a housing which holds these coupling members and establishes the axial distance between them.

4751868, Jun 21, 1988

Feb 12, 1986

6/828770

Henry M. Paynter - Reading MA

F01B 1900

92 48

The method and system employing double-acting, fluid-driven, twistor-pairs as combined flexural supports, joints, torque motors and linear-response angular deflectors in arms and legs of robots. Thus, the twistor-pairs at each joint advantageously serves as hinge or flexural support for the limb supported by the joint and simultaneously serves as double-acting turning motor for moving the portions of the arm or leg supported by the twistor pair. Various jointed-arm or jointed-leg robots, called "arthrobots" are shown embodying the invention. Controllably varying fluid pressure P. sub. 1 and R. sub. 2 (usually pressurized air) fed into elastic shells forming respective fluid chambers of a double-acting, twistor-pair at each joint, deflects a limb into predetermined predictable angular positions, depending upon these pressures. Costly friction-producing bearings are eliminated at joints and by eliminating bearings, mass, weight and inertia are substantially reduced, and frictional and torque drag effects are nearly eliminated. These benefits result in signifiant improvements in static and dynamic performance of arthrobots, and reduces costs of manufacture.

4721030, Jan 26, 1988

Jul 16, 1985

6/755605

Henry M. Paynter - Reading MA

F01B 1904

92 92

A fluid-driven tension actuator has a pair of end-connection, ring-shaped fittings of relatively large internal diameter with multiple inextensible strands anchored to them and initially extending between them as straight lines oriented at a pitch angle in the range from 60. degree. to 120. degree. forming a network of tension elements constraining the actuator shell and connecting together said two end fittings. These tension element strands define a ruled surface having the shape of an hyperboloid of revolution when the actuator is in its initially deflated (elongated or extended) position. These tension element strands serve to constrain the resilient, flexible, stretchable, elastomeric shell of the actuator which stretches and bulges outwardly into nearly a spherical surface of revolution when the actuator is in its inflated (contracted or retracted) position. By virtue of the relatively large internal diameter of the two end fittings there is provided at least one unrestricted port through which fluid can readily pass for efficient operation at a high cyclic rate of operation. In one embodiment, there is a single central crossing point of the respective strand elements and this crossing point stabilizes the strands during cyclic inflation and deflation of the tension actuator.

5040626, Aug 20, 1991

Jun 13, 1988

7/206090

Henry M. Paynter - Reading MA

B25J 304, B62D 5702

180 81

A six-legged, insect-like, self-propelled walking robot (hexapodal arthrobot), includes twistor-pairs in the waist, hip and knee of each leg and walks by pr0gramming fluid pressure in these twistor-pairs at the joints of respective legs in a predetermined controlled sequence. As a result of a predetermined sequence of six controlled variable pressures, this six-legged robot firmly plants three of its legs on the ground for providing stable ground support for walking. The three legs on the ground are propelling the robot forward with walking motion, while the other three legs are lifted and swing forward to an advanced position and are then lowered onto the ground for taking over their support and walking role in their turn, while the first three legs are then being lifted and swung forward to an advanced position, and so forth, for providing a stable forward walking motion. By reversing the sequence of six controlled variable pressures, a stable reverse walking motion is produced. Due to the fact that angular deflection of each twistor-pair joint is a predictable and predetermined linear function of the respective two fluid pressures fed into the two respective twistors of such twistor-pair joint, an open loop control method and system can be employed for operating these robots.

4751869, Jun 21, 1988

Jul 12, 1985

6/754523

Henry M. Paynter - Reading MA

F01B 1900

92 92

High pressure, fluid-driven tension actuators, axially contractible upon inflation by a suitable fluid such as compressed air to convert fluid pressure energy into linear contraction displacement, employ nearly spherical shell surfaces when inflated constrained by meridian and parallel elements. The inflatable shells are formed of elastomeric resilient material, and the constraining elements in certain embodiments of the invention comprise a reinforcing, tubular, knitted, fabric sleeve that axially encompasses, conforms to, and is bonded to a resilient, hollow bladder which defines a fluid chamber having at least one conduit connected at a polar location to bladder and sleeve for inflating and deflating the chamber. The parallel and meridian elements for constraining the elastomeric resilient shell include a generally square constraining pattern extending in an equatorial band around the shell upon inflation of the nearly spherical shell. The constraining elements serve to define an outer limit to spherical expansion of the bladder or shell and reinforce the bladder against rupture upon inflation by high pressure fluid, and the energy for the actuator to return to its initial formed shape is derived from the shear of each region of the shell and the bending of the elastomeric material.