Camshaft-Programmed 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 maintain, particularly in applications requiring hermetic seals, such as food handling, where preventing contaminants from entering the system is challenging and costly.
Innovation Solution
A mechanically programmable closed fluid actuation system using a camshaft driven by a motor to rotate and compress/decompress an air bladder, which actuates a soft robot by expelling or drawing fluid, eliminating the need for electronic control systems and valves, and allowing for complex pressure profiles to be programmed into the camshaft.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If electronic control systems and valves are used to actuate soft robots, then precise control of fluid pressure is achieved, but power consumption increases and system complexity increases
Solution Approach 1:
The patent replaces electronic control systems and valves with a mechanically programmable camshaft mechanism. The camshaft's lobes are precisely shaped to directly control the compression and decompression of air bladders, which in turn control fluid flow to the soft robot actuators. This mechanical substitution eliminates complex electronic controls while maintaining precise pressure control through the geometric design of the cam lobes.
Solution Approach 2:
The system uses a closed-loop pneumatic system where a single pump circulates fluid through air bladders controlled by the camshaft. The pneumatic pressure generated by the cam-driven air bladder compression and decompression directly actuates the soft robot, eliminating the need for separate electronic valves and complex fluid control systems.
2Adaptability or versatility
If electronic control systems are used to actuate soft robots, then programmed movements are achieved, but maintenance difficulty increases
Solution Approach 1:
The patent replaces electronic programming and control circuits with a mechanical programming approach. The camshaft lobes are physically shaped to encode the desired movement sequence and timing. This mechanical programming is inherently more robust and easier to maintain than electronic systems, as it has no fragile circuits or software to fail, and can be visually inspected and adjusted by mechanical means.
3Measurement precision
If complex actuation systems are used for soft robots, then precise pressure profiles are achieved, but hermetic sealing becomes more difficult
Solution Approach 1:
The patent merges multiple control functions into a single integrated mechanical camshaft mechanism. Instead of having separate electronic valves and control circuits that each require sealing, the camshaft performs all pressure control functions mechanically within a single hermetically sealed housing. This consolidation reduces the number of potential leak points and simplifies achieving hermetic sealing.
Solution Approach 2:
By replacing electronic valves with the mechanical camshaft system, the patent eliminates the need for complex electronic sealing requirements. The mechanical components can be sealed using traditional robust mechanical sealing techniques, which are more reliable and easier to implement than sealing complex electronic assemblies.
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 reduces power consumption and complexity, simplifies programming of soft robot movements, and facilitates easier hermetic sealing, making it more suitable for applications like food handling by using a single motor to drive multiple actuators with varied pressure behaviors.
Implementation Method 1
a camshaft, a motor configured to drive the camshaft to rotate around a rotational axis... a cam coupled to the camshaft and 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
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
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.