Cam-Driven Closed Fluid Actuation for Hermetic Soft Robots
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Solution Overview
Problem
Existing soft robot actuation systems are power intensive, electronically complex, and difficult to hermetically seal, particularly for applications like food handling, requiring costly prevention of contaminant ingress.
Innovation Solution
A mechanically programmable closed fluid actuation system using a camshaft and air bladders, actuated by a single motor, which expels and draws fluid based on cam profiles, reducing complexity and the need for electronic controls and valves.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional electronic control systems with multiple valves and actuators are used to control soft robot actuation, then precise control of soft robot movements is achieved, but system complexity increases and hermetic sealing becomes difficult
Solution Approach 1:
The patent replaces electronic control systems with a mechanically programmable camshaft mechanism. The camshaft's lobes are precisely shaped to directly control the timing and duration of fluid injection into air bladders, eliminating the need for electronic valves and control circuits while achieving precise control of soft robot segment actuation sequences.
Solution Approach 2:
The camshaft serves multiple functions simultaneously: it acts as a timing mechanism, a control mechanism for multiple air bladders, and a sequencing device for coordinated actuation of different soft robot segments. This single component replaces what would otherwise require multiple electronic controllers, valves, and sensors.
2Reliability
If traditional electronic control systems with multiple valves are used for soft robot actuation, then precise fluid control is achieved, but power consumption increases
Solution Approach 1:
The camshaft operates on a periodic cycle, with each rotation delivering precisely timed injections of fluid to air bladders in a repeating sequence. This periodic mechanical action replaces continuous electronic control signals and eliminates the need for continuously powered electronic valves, significantly reducing power consumption while maintaining precise fluid control.
3Adaptability or versatility
If traditional actuation systems with multiple electronic components are used, then control functionality is comprehensive, but hermetic sealing becomes difficult and manufacturing costs increase
Solution Approach 1:
The patent extracts and removes all electronic control components (valves, sensors, control circuits) from the hermetically sealed environment. The camshaft mechanism is positioned outside the sealed chamber, with only simple mechanical linkages penetrating the seal, dramatically simplifying hermetic sealing requirements and reducing manufacturing complexity while preserving comprehensive control functionality.
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 system provides less power-intensive, less complex, and easier-to-seal actuation, enabling hermetic sealing and efficient control of soft robot movements with reduced manufacturing costs.
Implementation Method 1
a cam coupled to the camshaft that is configured to rotate around the rotational axis when the camshaft is driven and compress or decompress the air bladder based on a physical profile of the cam as the cam rotates around the rotational axis
Implementation Method 2
an air bladder configured to expel fluid from the air bladder during compression and draw fluid into the air bladder during decompression
Implementation Method 3
a soft robot coupled to the air bladder, wherein the soft robot is actuated to move based on the fluid inserted into the soft robot during compression or the fluid removed from the soft robot during decompression
Data Source
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AI summary
Aspects of the disclosure relate to methods, apparatus, and systems for actuating a soft robot. An actuation system includes a camshaft, a motor configured to drive the camshaft to rotate around a rotational axis, and an air bladder configured to expel fluid from the air bladder during compression and draw fluid into the air bladder during decompression. The system further includes a cam coupled to the camshaft that is configured to rotate around the rotational axis when the camshaft is driven and compress or decompress the air bladder based on a physical profile of the cam as the cam rotates around the rotational axis. The system also includes a soft robot coupled to the air bladder, wherein the soft robot is actuated to move based on the fluid inserted into the soft robot during compression or the fluid removed from the soft robot during decompression.