39 results about "Bending actuator" patented technology

The invention relates to the technical field of optical coherence elastography, in particular to a microscopic optical coherence elastography method and system.The method comprises the steps that a collection trigger signal is generated, a vibration control signal and a position control signal are output at the same time, and a target excitation system corresponding to a to-be-detected sample is determined; triggering the line scanning camera by collecting a trigger signal, collecting a line scanning image of the to-be-tested sample, and adjusting the position of the to-be-tested sample in the sample table so as to place the to-be-tested sample at a target test position; controlling a bending actuator or an ultrasonic transducer to vibrate by using the vibration control signal so as to excite low-frequency shear waves or ultrasonic waves in the sample to be detected; the to-be-detected sample is scanned through the position control signal to obtain propagation information of low-frequency shear waves or ultrasonic waves, and the pixel-level biomechanical properties of the to-be-detected sample are reconstructed by using a near-field full-wave inversion algorithm, so that the microstructure of a deeper tissue can be observed, the imaging speed is relatively high, and the detection performance of small inclusions is improved.

The invention relates to an experimental device and method for testing the comprehensive mechanical property of a slender flexible cable, and belongs to the technical field of ocean engineering testing. The device comprises a main body frame, a tensile loading device, a bending load loading device and a torsional load loading device. The tensile loading device is not directly connected with the main body frame and is directly connected with the end part of the cable during an experiment. Through a modular integrated design, multi-axis coupling cooperative loading of stretching, bending and twisting is realized; a stretching actuator provides axial tension; the four-point bending actuator drives the slide rail and the roller to realize dynamic bending, and the bending radius is adjustable; the torsion actuator converts linear motion into torque through a gear-rack mechanism, and the supporting rollers eliminate axial interference. The device has the functions of pressure self-adaptive control and energy recovery. The device solves the problem that a traditional testing machine cannot simulate complex ocean working conditions, and is suitable for comprehensive mechanical property evaluation of flexible pipe cables such as submarine cables.

The invention relates to a pneumatic soft robot capable of autonomously advancing through a cavity and a control method of the pneumatic soft robot. The pneumatic soft robot comprises a front-section bending actuator, a middle-section extending actuator and a rear-section bending actuator. Wherein the front-section bending actuator and the rear-section bending actuator are the same in structure and each comprise a central air chamber and a three-section bending module, the middle-section extension actuator is composed of a corrugated pipe, periodic corrugated folds are arranged on the inner wall of the middle-section extension actuator, a rigid restraint ring is embedded into the outer portion of the middle-section extension actuator to limit radial expansion, and the corrugated pipe is made of a soft material. The front-section bending actuator, the middle-section extension actuator and the rear-section bending actuator are connected in series through a flexible connecting sleeve; in conclusion, through the innovative three-section pneumatic structural design, multi-mode high-precision sensing fusion and intelligent closed-loop control strategy, the navigation accuracy, safety and autonomy of the soft robot in the cavity are remarkably improved, and the risk of injury to the cavity tissue of a patient in the diagnosis and treatment process is effectively reduced.

The invention discloses mechanical property and fatigue property testing equipment for materials and structural parts, relates to the technical field of mechanical property testing, and aims to solve the problem that existing testing equipment is complicated in operation. The equipment comprises a rack, a horizontal actuator, a vertical actuator and a bending actuator are arranged on the rack, and the horizontal actuator, the vertical actuator and the bending actuator are used for applying loads to a sample; the horizontal actuator is movably arranged in the length direction, the width direction and the height direction of the rack. The detection assemblies are arranged on the horizontal actuator, the vertical actuator and the bending actuator, and the detection assemblies are used for detecting the positions of the loading ends of the actuators and the loads borne by the actuators in real time; the special clamp is detachably arranged on the rack and loading ends of the horizontal actuator, the vertical actuator and the bending actuator; the control device is in signal connection with the horizontal actuator, the vertical actuator, the bending actuator and the detection assembly. By means of the arrangement, coupling loading of various loads can be achieved without replacing parts, the operation process is simplified, and the test efficiency is improved.

This utility model discloses a multi-axis intelligent pipe bending device, relating to the field of industrial pipe processing technology. The multi-axis intelligent pipe bending device includes a worktable, a bending mechanism, a booster mechanism, a sliding mechanism, a clamping mechanism, and a transmission mechanism. This device integrates servo drive, pulley drive, intelligent reduction module, and multi-axis bending actuator. It achieves process upgrades through three technological breakthroughs: a flexible transmission system for millisecond-level overload protection; a multi-parameter closed-loop control system to compress bending angle errors to within ±0.5°; and a modular mold design to support rapid changeover, significantly improving the forming quality and production efficiency of high-strength alloy pipes. It provides a new type of basic process equipment for the intelligent manufacturing field, transforming traditional pipe processing methods, improving production efficiency and processing accuracy, meeting complex pipe processing needs, supporting small-batch production, and featuring a compact structure, ease of use, and small footprint, making it suitable for space-constrained production environments.

The invention relates to a component having a main part (1) with at least a first and a second electrode, wherein a first electrical contact surface (4), which is electrically connected to the first electrode, and a second electrical contact surface (5), which is electrically connected to the second electrode, are provided on the lower face (2) of the main part. At least one purely mechanical contact surface (7), which is electrically floating, and / or at least one sensor contact surface (101), which is connected to a third electrode of the main part, is provided on the lower face of the main part, or one of the electrical contact surfaces (5) has a flat contact region (10) and a strip-shaped region (11) adjoining the flat contact region. The component can particularly be a ceramic piezoelectricl multilayer component for a bending actuator and / or bending sensor.

The invention relates to the technical field of medical instruments, and particularly discloses a force control bending and pressing method and device for a sensor probe and a production line. The method comprises the steps that the probe is inserted into an assembly hole of a sensor shell; a bending actuator is driven to apply bending force to the probe part protruding out of the assembly hole, and a first pressure value in the bending process is collected in real time; when the first pressure value reaches a preset first pressure threshold value, the bending actuator is controlled to stop; a pressing actuator is driven to apply pressing force to the probe part, and a second pressure value in the pressing process is collected in real time; when the second pressure value reaches a preset second pressure threshold value, the pressing actuator is controlled to stop, bending and pressing of the probe are completed, the bending and pressing method is matched with the corresponding bending and pressing device, the automatic bending, pressing and assembling process of the continuous blood glucose monitoring sensor probe is achieved, and the production yield and production efficiency of flexible sensors are improved.

The invention provides a swimming robot based on a flexible pneumatic bending actuator and a control method thereof, and relates to the technical field of swimming robots, the swimming robot comprises a robot main body structure, and the robot main body structure is integrally printed through a fused deposition modeling technology; the plurality of pneumatic bending actuators are integrally printed and manufactured through a photocuring molding technology, and are detachably connected to the robot main body structure respectively; and a gas path control system. A positive and negative pressure combined driving mode is provided, the size of the pneumatic bending actuator is greatly reduced when the pneumatic bending actuator generates bending actuation, and then buoyancy applied to the robot is remarkably changed to expand the motion mode of the swimming robot. According to the technology, the actuating frequency and the movement speed of the robot are well coordinated, the robot can generate the high movement speed at the low actuating frequency, and the recovery time of the pneumatic bending actuator is remarkably shortened through the positive pressure and negative pressure combined actuating mode.

The piezoelectric stop piece for the multi-station piezoelectric jack and the multi-station needle selector are used for limiting the guide needle when the corresponding guide needle is switched in the station. In the present application, by setting the piezoelectric stop piece in the piezoelectric jack, on the one hand, the piezoelectric stop piece is used to limit the guide needle when the guide needle is switched in the station, so that the guide needle can be more accurately switched to the predetermined station, on the other hand, the piezoelectric stop piece is used to drive the stop piece unit of the piezoelectric stop piece to swing together, the piezoelectric bending actuator is mature in the field of piezoelectric jack, stable in use, low in manufacturing cost, only the original piezoelectric ceramic part of the piezoelectric jack is used, the overall structure of the piezoelectric jack does not need to be changed, thereby the stability of the piezoelectric stop piece in work is improved, and the effect of killing two birds with one stone is achieved.

The application provides an electric bending anastomat with a bending actuator, which comprises a bending motor, a bending gear, a bending screw rod, a bending nut, a bending connecting rod and a closure driving part. The bending motor is fixedly connected with the bending gear, the bending gear is gear-connected with the bending screw rod, the bending screw rod is screw-nut-connected with the bending nut, the bending nut is movably connected with the bending connecting rod, the closure driving part is movably connected with the bending nut, and the bending nut moves forward and backward relative to the closure driving part. The application adds a limiting device for the bending transmission part, so that the bending transmission part remains in the original position when the bending transmission assembly performs the rotating action of the instrument jaw, and the instrument does not drive the bending driving assembly to make the jaw perform the bending action at the same time when the instrument performs the rotating action of the jaw.

The present application discloses a bending actuator and a panel audio speaker including the bending actuator. A distributed mode speaker (DML) includes a flat panel extending in a panel plane. The DML also includes a rigid slender member that is displaced from the flat panel and extends parallel to the panel plane, the slender member being mechanically coupled to the flat panel at a first position along the slender member and extending away from the first position to an end of the member that is free to vibrate in a direction perpendicular to the plane. The slender member includes a soft magnetic material. The DML also includes an electromagnetic system that includes at least one conductive coil having an axis perpendicular to the panel plane and displaced from the slender member. The DML also includes an electronic control module that is electrically coupled to the electromagnetic system and is programmed to fully energize the conductive coil so that the magnetic field generated by the conductive coil displaces the free end of the slender member.

An apparatus includes an actuator body having an elongated shape with two end-caps on opposite ends, the actuator body defining a cavity within the actuator body, a first material extending between the two end-caps forming a first portion of a wall of the cavity; and a second material extending between the two end-caps, forming a second portion of the wall of the cavity, wherein the two materials have different mechanical responses to longitudinal and radial loading.

The invention discloses a rigid-flexible mixed indirect contact type rescue executing mechanism and a using method thereof, and relates to the technical field of rescue robots. Comprising a plurality of rigid-flexible mixed fixing devices which are in indirect contact with the wounded, each rigid-flexible mixed fixing device comprises variable-rigidity coating mechanisms which are symmetrically arranged, and the variable-rigidity coating mechanisms are connected with corresponding telescopic mechanical arm mechanisms; the variable-stiffness coating mechanism comprises a variable-stiffness coating layer, soft body bending drivers and an insertion protection mechanism, the soft body bending drivers are arranged on the two sides of the variable-stiffness coating layer, and the variable-stiffness coating layer is bent by filling gas into the soft body bending drivers; the telescopic mechanical arm mechanism comprises a moving pair composed of a telescopic module and a storage module, and the moving pair enables the insertion protection mechanism to be gradually attached to the human body. The body of the wounded person to be rescued can be completely wrapped in an indirect contact mode, and secondary damage to the wounded person in the rescue process can be reduced.

A textile machine and a multi-station piezoelectric ceramic jacquard device include multiple yarn guide needles, multiple first bending actuators for driving the corresponding yarn guide needles to oscillate, multiple baffle units adapted to the yarn guide needles, and multiple second bending actuators for driving the corresponding baffle units to oscillate. In this invention, by configuring the baffle units to limit the corresponding yarn guide needles, the corresponding yarn guide needles have at least three stations for jacquard yarn guiding, thereby increasing the number of stations during the oscillation process of the yarn guide needles, resulting in a three-station yarn guide needle that can stop oscillating at the middle position.

To provide a telescopic-type robot arm large in bending amount and reduced in weight, and a method for driving the same.SOLUTION: A telescopic mechanism 2 includes an outer cylinder 21 fixed to a base 1, an inner cylinder 22 provided with a camera 3, and an intermediate cylinder 23, 23' between the outer cylinder 21 and the inner cylinder 22. A wire (rope) 4-1 is passed through guide mechanisms 21b, 23b, 23b', and 22b provided at the tips of the outer cylinder 21, the intermediate cylinder 23, 23', and the inner cylinder 22; one end of the wire 4-1 is wound on a bending actuator 5-1a provided in the base 1; and the other end of the wire 4-1 is wound on a bending actuator 5-1b provided in the base 1. Spherical stoppers 8-1, 8-2, and 8-3 that have different diameters are formed on the wire 4-1. The diameters D1, D2, and D3 of the spherical stoppers 8-1, 8-2, and 8-3 are gradually larger from the bending actuator 5-1a toward the bending actuator 5-1b.SELECTED DRAWING: Figure 1

This invention relates to the field of heat dissipation technology for electronic devices, and discloses a heat dissipation driving device and an electronic device. The heat dissipation driving device includes: a frame; a diaphragm connected to the frame at its outer edge, with a centrally located connecting hole on the diaphragm; a magnetic circuit system disposed on the frame for driving the diaphragm to vibrate axially; and multiple bending actuators evenly disposed on the diaphragm, one end of each actuator being a fixed end fixed to the outer periphery of the connecting hole, and the other end being a free end opposite to the connecting hole. In the initial position, the free ends of the bending actuators cover the connecting hole. When the diaphragm moves to a first side, the free ends of the bending actuators move away from the connecting hole under the control of a control circuit. When the diaphragm moves to a second side opposite to the first side, the free ends of the bending actuators return to their initial positions under the control of the control circuit. This heat dissipation driving device adopts an active one-way valve structure, providing stable heat dissipation performance.

This invention discloses a novel asymmetric pneumatic endoscope device for pre-bending, comprising: a housing with a diameter of 12 mm and a bending angle of 120° when stationary; a main body and rings disposed on the housing, the rings being connected to the main body, and sixteen rings being disposed; a reinforcing chamber disposed on the inner side of the main body; a driving chamber disposed between the reinforcing chamber and the housing; and a free central cavity disposed between the reinforcing chamber and the driving chamber. This device, by using a non-expandable housing for the pre-bending flexible endoscope, eliminates the need for a sheath to prevent radial expansion. Since the rings are connected to the main body running along the outer arc of the bending actuator, these rings are further apart along the outer arc and closer together along the inner arc. Therefore, when the actuator is compressed, the main body will inhibit the extension of the module, while the rings will limit radial expansion. The reinforced housing allows the endoscope to bend from a stationary position and straighten during the bending actuation.

Portable automatic production equipment for optical cable hooks comprises a steel wire cutting execution assembly, a steel wire bending execution assembly, a steel wire bending direction angle adjusting assembly, a steel wire bending rate angle adjusting assembly, a steel wire feeding execution assembly and a steel wire tray supporting frame assembly. The invention belongs to special production equipment for optical cable hooks, is used for replacing a traditional manual production and manufacturing mode, has the characteristics of simple structure, small size and no need of special mold assistance, and can be moved to a construction site along with a vehicle, so that the production flexibility of the optical cable hooks is greatly improved; the production efficiency and the product qualification rate of the optical cable hooks can be further improved, the field production and manufacturing requirements of the optical cable hooks with complex bending angle characteristics in the spatial dimension can be met, the optical cable hooks produced in batches have good consistency in the product bending angle characteristics, the manufacturing quality of the optical cable hooks is guaranteed, and meanwhile the production cost of the optical cable hooks is reduced. And the fixing effect and the laying construction quality of the optical cable are effectively improved.

The invention provides a fiber reinforced pneumatic bending actuator and a manufacturing method thereof. The actuator comprises a tubular elastomer core material made of a hyperelastic material, and an air channel extending in the axial direction is formed in the tubular elastomer core material; the non-stretchable limiting layer is adhered to the outer side wall of the bottom of the tubular elastomer core material; the fiber reinforced layer is wound on the outer surfaces of the tubular elastomer core material and the non-stretchable limiting layer in a symmetrical double-helix manner; the air inlet joint is communicated with an air path at one end of the tubular elastomer core material and is integrally formed; when compressed gas is introduced, the fiber reinforcement layer restrains the tubular elastomer core material from expanding in the radial direction, the non-stretchable limiting layer prevents the side from stretching in the axial direction, and therefore the actuator generates bending deformation towards the non-stretchable limiting layer side. The bending angle and the output force can be accurately adjusted by controlling the input air pressure. According to the manufacturing method, the split type and stepped mold and the pouring technology are adopted, core material forming, fiber winding, outer layer packaging and connector integration are sequentially completed, and the manufacturing method is simple, convenient and reliable.

Provided are a vertical fatigue test device for a dynamic submarine cable based on a topology optimization design framework, and a method thereof. The device includes a bending table, a main framework, the dynamic submarine cable, a connecting hinge, a supporting frame, a bottom plate, and a tension actuator; the bending table is mounted on an upper plate at a top of the main framework, and the main framework, the supporting frame, and the tension actuator are mounted on the bottom plate; an upper end of the dynamic submarine cable is connected with the bending table through a clamping mechanism; each of a left end and a right end of the bending table is connected with a bending actuator; the bending actuators are connected to the upper plate and are configured to achieve reciprocating swinging of the bending table.

The invention belongs to the technical field of ultra-precision polishing, and discloses a polishing device and method driven by an integrated ionic polymer metal composite material. The device comprises a workbench, a controller, a robot, a main shaft clamp, a polishing main shaft, an integrated ionic polymer metal composite air bag polishing head, a workpiece, an optical platform and a micro strain gauge pressure detection device. The polishing head is of a multi-layer composite structure, an electro-bending actuator of the polishing head can achieve active deformation through low-pressure driving, the polishing head is precisely matched with the complex curved surface contour through a variable-curvature flexible attaching mechanism, precise regulation and control over local polishing pressure are synchronously achieved, and the profile precision of complex curved surface machining is guaranteed. In the polishing process, the deformation change of the attached surface is sensed in real time through a miniature strain gauge pressure detection device attached to the interior of the air bag, the deformation amount is converted into an electric signal to be transmitted to a controller, and the characterization polishing head deformation area is obtained through calculation. The controller dynamically adjusts and drives the electro-bending actuator according to the difference value of electric signals transmitted back by the micro strain gauge pressure detection device, and closed-loop control is formed. The problems that traditional air bag polishing local pressure cannot be finely adjusted, the adaptive complex curved surface morphology is poor, and real-time feedback is lacked are effectively solved, and the consistency of polishing precision and polishing quality is remarkably improved.

The present invention discloses an optimization design method for a fiber-reinforced soft bending actuator, which belongs to the field of soft robots and aims to solve the time-consuming and labor-intensive problems existing in the simulation and design of fiber-reinforced soft bending actuators. According to the structural parameters of the initialized soft fiber-reinforced bending actuator and the given bending angle, the bending moment of the input pressure to the equilibrium point on the free-end sealing cap, the bending moment of the actuator body to the equilibrium point, and the bending moment of the actuator skin to the equilibrium point are calculated. Then, the relationship between the input pressure and the initial structural parameters of the actuator is obtained from the bending moment balance condition, and the actuator structural parameters corresponding to the bending angle conditions of the actuator in a given equilibrium state are obtained with minimizing the input pressure as the optimization goal. The present invention can realize the posture speed tracking, positioning, and optimization of the soft fiber-reinforced soft bending actuator in a free state when pressurized, and can solve the time-consuming and labor-intensive problems existing in traditional design methods.

The invention discloses a cold-rolled plate shape feedback regulation dynamic distribution method, device and system and a storage medium, and the method comprises the steps: carrying out the Legendre decomposition of an actual plate shape deviation into a quartic polynomial, and calculating a quartic term coefficient and a quadratic term coefficient of the plate shape deviation; the regulation and control effects of working roll bending and middle roll bending are decomposed into quartic polynomials through Legendre decomposition; calculating a similarity index between the strip shape deviation and the regulation and control effects of working roll bending and middle roll bending execution mechanisms; and comparing the size of the similarity between the regulation and control efficacy of each execution mechanism and the plate shape deviation, and introducing a normalized exponential function for mapping to realize dynamic distribution control of each execution mechanism. By means of the technical scheme, dynamic distribution control can be achieved, and more accurate control over the plate shape is achieved.

The utility model discloses high-precision bending equipment for a flexible circuit board, which comprises a fixed table top, a positioning assembly, a movable platform, a moving module, an upper fixed module, an upper bending module and a lower bending module, and is characterized in that the upper fixed module and the upper bending module are arranged on the movable platform corresponding to bending stations; the upper fixing module comprises an upper fixing rotor and a first upper driving unit used for driving the upper fixing rotor to act, and the upper bending module comprises an upper bending rotor and a second upper driving unit used for driving the upper bending rotor to act. The lower bending module corresponds to the bending station and is arranged below the fixed table top; and the lower bending module comprises a lower bending heating rotor and a lower driving unit for driving the lower bending heating rotor to act. According to the scheme, the problems of inaccurate positioning, uneven bending and the like of the existing bending equipment of the FPC are solved, the stability and the reliability of EMI (Electro-Magnetic Interference) during bending are ensured, and the product defects caused by uneven bending of the EMI are avoided.

The present application relates to the technical field of optical coherence elastic imaging, and in particular to a microscopic optical coherence elastic imaging method and system, wherein the method comprises: generating an acquisition trigger signal, outputting a vibration control signal and a position control signal simultaneously, and determining a target excitation system corresponding to a sample to be tested; triggering a line scan camera by the acquisition trigger signal, acquiring a line scan image of the sample to be tested, and adjusting the position of the sample to be tested in the sample stage to place it in a target test position; controlling the vibration of a bending actuator or an ultrasonic transducer by a vibration control signal to excite low-frequency shear waves or ultrasonic waves in the sample to be tested; scanning the sample to be tested by a position control signal to obtain propagation information of low-frequency shear waves or ultrasonic waves, and reconstructing the pixel-level biomechanical properties of the sample to be tested by a near-field full-wave inversion algorithm, thereby being able to observe the microstructure of deeper tissues, and having a faster imaging speed, thereby improving the detection performance of small inclusions.

The carangidae-imitating robotic fish based on the DEMES structure comprises a driving unit (1), a fish head frame (2) and a tail fin (3), and the driving unit (1) is formed by symmetrically fixing a pair of connecting angle mechanisms (5) on the outer side of a DEMES bending actuator (4) which is symmetrically arranged. The DEMES bending actuator (4) comprises a PET frame (6), a dielectric elastomer (7), a reinforcing piece (8), an electrode (9) and a wire, the PET frame (6) is a rectangle provided with a square circular center hole (10), and the center hole (10) is in the shape that a rectangle is arranged between two semicircles; the dielectric elastomer (7) covers the PET frame (6), and the electrode (9) is coated on the dielectric elastomer (7) at a position corresponding to a central hole (10) of the PET frame. The device is high in propelling efficiency, good in position controllability, not prone to winding with aquatic organisms, compact in structure, fast in response and high in efficiency.

The invention relates to a gripper of a robot arm, a robot with a gripper, the use of a gripper for gripping a piece of goods and a method for loading a piece of goods, wherein the gripper comprises a bending actuator with a shape memory element, in particular made of a shape memory alloy.

This invention relates to the field of copper busbar processing technology, specifically to a copper busbar processing equipment and method. The copper busbar processing equipment includes a machine base, on which a bending actuator is mounted to act on the copper busbar, and a drive device for controlling the movement and reversal of the bending actuator. The bending actuator includes a base, on which a positioning platform is mounted. A transversely penetrating feeding channel for accommodating the copper busbar is provided on the upper side of the positioning platform away from the base. A flat bending mechanism and a vertical bending mechanism are mounted on the base. This invention enables flat bending, vertical bending, and cutting of copper busbars using a single bending actuator, resulting in high equipment integration and reduced equipment costs. This invention achieves sequential linkage of locking and positioning followed by bending or cutting processing through a single stroke driven by a first motor, ensuring the stability of continuous processing.

The present invention discloses an elliptical bellows bending actuator and a wearable finger flexion and extension rehabilitation device, wherein the elliptical bellows bending actuator includes an elliptical bellows and a joint fixator. The elliptical bellows has a closed end and an open end. The open end is suitable for connecting to an inflation device to inflate the elliptical bellows through the inflation device. The cross-section of the elliptical bellows is elliptical, so that the elliptical bellows bends around an axis that is generally parallel to the long axis of the ellipse when inflated. The joint fixator is provided on the elliptical bellows and is suitable for being fixed on a wearable carrier. The elliptical bellows bending actuator and the wearable finger flexion and extension rehabilitation device provided according to the embodiments of the present invention have a single bending direction without external constraints, better flexibility, and better rehabilitation training effect. In addition, since no external constraints are required, the structure is simplified, so that the fingers can bend freely in the narrow space of the hand without interference and other problems.

A cooling system including a heat load; a supply line supplying a cold coolant to the heat load, wherein the cold coolant receives heat from the heat load and becomes a hot coolant, a return line receiving the hot coolant from the heat load, a transducer generating elliptical ultrasonic waves, and a horn coupled to the receiving line and receiving the hot coolant, wherein the horn conveys the elliptical ultrasonic waves to the hot coolant. The hot coolant, in response to the horn conveying the elliptical ultrasonic waves, undergoes heat loss through convection. Elliptical ultrasonic waves are provided by a transducer combining a longitudinal actuator and a bending actuator.