Asymmetric Soft Robotic Actuators for Precise Pressure Bending
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Solution Overview
Problem
Existing soft robotic manipulators have limited actuation capabilities and are not well-suited for manipulating delicate or varied objects, as they often rely on rigid skeletons and lack adaptable actuation dynamics.
Innovation Solution
The development of soft robotic actuators with a flexible or elastic elongate body that can be pressurized or depressurized to bend, featuring a repeating variable wall portion and tunable parameters such as wall thickness and pitch, allowing for specific pressure-actuated changes and designed using quantitative modeling techniques.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid robotic skeletons are used, then structural strength is improved, but adaptability for manipulating delicate objects deteriorates
Solution Approach 1:
The patent employs flexible elastomeric shells and thin film structures to replace rigid skeletons, enabling the robotic manipulator to conform to and adapt around delicate objects while maintaining sufficient structural integrity through the elastomeric material properties
Solution Approach 2:
The patent utilizes composite material structures combining elastomeric components with internal reinforcement elements, creating a hybrid structure that provides both the flexibility needed for delicate object manipulation and the structural strength required for supportive functions
2Speed
If conventional pneumatic actuators are used, then actuation speed is improved, but actuation precision deteriorates
Solution Approach 1:
The patent implements dynamically adjustable actuation systems where elastomeric components can modify their mechanical properties in real-time, allowing the system to optimize between speed and precision based on task requirements through variable stiffness and damping characteristics
Solution Approach 2:
The patent utilizes parameter changes in the elastomeric materials and actuation system, such as varying pressure, temperature, or material composition, to dynamically adjust actuation characteristics and achieve both high speed and high precision across different operational phases
3Adaptability or versatility
If soft robotic actuators with flexible bodies are used, then adaptability is improved, but structural stability deteriorates
Solution Approach 1:
The patent divides the flexible robotic structure into segmented modular units, each with controlled flexibility, allowing individual segments to adapt independently while maintaining overall structural stability through the segmented architecture
Solution Approach 2:
The patent employs counterbalancing mechanisms and distributed mass distribution within the flexible structure to compensate for instability, allowing the soft robotic actuator to maintain structural stability while preserving adaptability through balanced mechanical design
4Stress or pressure
If repeating variable wall portions are added to the actuator, then pressure sensitivity is improved, but device complexity increases
Solution Approach 1:
The patent achieves improved pressure sensitivity by varying geometric parameters of the wall portions, such as thickness, curvature, and material composition, rather than adding complex mechanical components, thereby enhancing pressure response while keeping the overall device structure relatively simple
Solution Approach 2:
The patent introduces asymmetric variations in the wall portion geometry and material properties to create anisotropic pressure sensitivity, allowing the actuator to respond differently to pressures from different directions, thereby improving overall pressure sensitivity without requiring multiple identical components
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
These actuators offer improved pressure sensitivity, reduced strain, and a broader dynamic range, enabling more precise and reproducible actuation with less mechanical interference, suitable for various applications including medical devices and surgical instruments.
Implementation Method 1
a flexible or elastic elongate body that defines a sealed void which can be pressurized or depressurized relative to the environment surrounding the actuator
Implementation Method 2
Pressurizing or depressurizing the flexible or elastic elongate body causes at least a part of the flexible or elastic elongate body, and thus the actuator, to bend
Data Source
AI summary
A soft robotic actuator is disclosed. The actuator includes a first portion with a substantially constant profile and a second portion with a regularly varying profile, and bends in a pressure-dependent fashion as the internal pressure within the actuator is increased or decreased.