Bionic Robot Spine Using Magnetorheological Fluid
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Bionic robots with rigid and passively flexible spines face limitations in motion speed and flexibility due to uncontrolled spine deformation and limited directional bending, lacking multi-degree of freedom and flexible body structures.
Innovation Solution
A spine apparatus for bionic robots utilizing magnetorheological fluid and actuating devices with linear actuators, control valves, and excitation coils, along with a controller generating variable magnetic fields and oscillation signals to adjust fluid viscosity and simulate mammalian spine motion, enhancing flexibility and bionic performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If digital control signals are used to control linear actuators in the spine apparatus, then the control precision is improved, but pause and transition occur in the rhythm signals making them difficult to adjust
Solution Approach 1:
The patent replaces the digital control system with a biological neural control system. The neural controller uses analog electrical signals to stimulate neurons, which naturally generate continuous rhythm signals without pause and transition problems. This substitution of control mechanism resolves the contradiction by maintaining precision through neural stimulation while eliminating the adjustability issues of digital signals.
Solution Approach 2:
The patent changes the control parameter from digital signals to analog neural signals. By using variable stimulation intensities and frequencies that mimic natural neural behavior, the system achieves both precise control and smooth, continuously adjustable rhythm signals without the discontinuities inherent in digital control.
2Strength
If rigid body structure is used for the robot, then the structural strength is improved, but the motion speed and flexibility are reduced
Solution Approach 1:
The patent introduces a dynamic spine apparatus with multiple degrees of freedom that can actively deform and adapt during motion. The spine uses actuators controlled by a neural system to dynamically adjust its configuration, allowing the robot to maintain structural strength when needed while achieving high motion speed and flexibility through coordinated spinal deformation during running and steering.
Solution Approach 2:
The patent employs a flexible spine structure with multiple segments that can bend and deform actively. This flexible spinal column replaces the rigid body structure in the regions requiring motion, allowing the robot to achieve cat-like agility and speed while maintaining overall structural integrity through the controlled flexibility of the spine.
3Ease of manufacture
If passively flexible spine is used formed by connecting upper and lower limbs with an elastic body, then the ease of manufacture is improved, but the spine deformation cannot be actively controlled limiting the motion speed
Solution Approach 1:
The patent transforms the passive elastic spine into an active dynamic spine apparatus. Multiple actuators are integrated into the spine segments, controlled by a neural controller that generates coordinated deformation patterns. This active control enables the spine to dynamically adjust its deformation during running and steering, significantly increasing motion speed and agility while maintaining manufacturability through modular assembly.
Solution Approach 2:
The patent divides the spine into multiple independent segments or vertebrae, each capable of independent actuation. This segmentation allows the spine to achieve complex three-dimensional deformation patterns while maintaining modular construction that is relatively easy to manufacture and assemble, resolving the contradiction between active control capability and ease of manufacture.
4Device complexity
If single-direction bending spine is used, then the device complexity is reduced, but the adaptability is worsened compared to animal spines
Solution Approach 1:
The patent extends the spine's bending capability from one dimension to three dimensions by incorporating actuators that enable deformation in multiple directions. The spinal apparatus can bend laterally, vertically, and rotate, mimicking the multi-degree-of-freedom capability of animal spines. This multi-directional capability dramatically improves adaptability for various terrains and motions while maintaining manageable complexity through systematic actuator placement and neural control.
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
The solution reduces pause and transition in the spine apparatus, improving the robot's flexibility and bionic performance by dynamically controlling the spine's viscosity and motion, mimicking the rhythm and adaptability of mammalian spines.
Implementation Method 1
a magnetorheological fluid filled in the cavity and driving, together with the first tube and the second tube, the first end of the piston rod to move along the axial direction of the cavity
Data Source
AI summary
A bionic robot and a spine apparatus thereof. Magnetorheological fluids are filled in the cavity, the first tube and the second tube to actuate the first end of the piston rod, so that the piston rod is actuated to move along the axial direction of the cavity. The excitation coil is wound around the first tube. When the controller provides a variable current for the excitation coil, the excitation coil produces a variable magnetic field at the first tube, thereby causing a magnetorheological effect that the magnetorheological fluid is in low liquidity and high viscosity. Then, the transmission speed of the piston rod is changed, which is presented as a damping characteristic, reducing the pause and transition in the spine apparatus, and improving the flexibility and the bionic performance of the robot.