No electricity if I use a pneumatic system instead to power it.
So its a rotational bellows system, I did have some kind of translation to rotation transform, but it turned out I don't need it maybe.
So you wonder why don't I just pass up connection to the next actuator in series through the fulcrum? - But! if I do it like this as extra bellows down the sides, I reduce the amount of flexability requirement and I've formulated how to make my own ceramic glue! - IF U PM ME I might say how I made it, its really easy. (Its like glue that dries like a flexable form of glass.) so the flexability is down its alot stiff but I might be able to squeeze it into a rotational type bellow system as long as I make then angular change down enough (Make the bellow segments more acute, and have more of them, makes them easier to collapse with less flexability requirement) so the plasticizer can work for me.
This does add a slight complication that in the internal actuators that push out the hydrofluid to the legs, if I have a small compensation volume that triggers when an actuation happens to take into account the volume difference of a "conduction channel" getting its volume changed when a prior actuator has gone left or right.
I have absolute control of the actuators, but I still will have an encoder to get the absolute position (even tho its not in the machine physically), in the form of how much air is currently moving when I apply power to the actuation vessel, the more charge, the more in the reverse direction of the actuation it was, the less air movement, or the more pneumatic resistivity, (because its pneumatic driven hydraulics) the more the actuator is in the direction of the way I was actuating.
So its own off the amount of resistivity of the power into the actuation vessel. which then goes to hydraulic down the arm.
I might have two internal vessels to power it, so I supply so much left power, balanced with so much right power, and then I should make a position between the two pushes, to make an absolute target for the actuator, with enough psi to get over the stiffness of the physical material its made from, which could be bending metal.
