Continuum Robot Stiffness via Inflatable Sections
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Solution Overview
Problem
Continuum arm robots suffer from low stiffness due to the number of joints, limiting their load-carrying capacity and interaction with the environment, especially in longer lengths where deflection causes navigation issues, restricting their use to lightweight tasks.
Innovation Solution
Incorporating inflatable sections made of elastic materials around a passive core within the robot arm, which can be filled with fluid to increase stiffness, allowing controlled expansion and contraction to maintain position and adapt to different environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If continuum arm robots use multiple joints to achieve high degrees of freedom for dexterous manipulation, then the robot can operate in confined areas with high positional accuracy, but the robot suffers from low stiffness and reduced load-carrying capacity
Solution Approach 1:
The patent applies dynamics by making the backbone structure changeable between compliant and stiff states. The backbone includes inflatable elements that can be inflated to increase stiffness when load-bearing or positional stability is needed, and deflated when flexibility and dexterity are required, allowing the robot to dynamically adapt its mechanical properties to task requirements
Solution Approach 2:
The patent changes physical parameters of the backbone by inflating or defating elastic elements. This alters the structural stiffness parameter without changing the number of joints or degrees of freedom, enabling the same robotic structure to exhibit different mechanical characteristics depending on operational needs
2Length of moving object
If the robot arm length is increased to reach distant targets, then the robot can access more areas, but the deflection of long cantilever beams causes significant position and navigation issues
Solution Approach 1:
For longer robot arms, the patent employs inflatable stiffening sections that can be activated when the arm is extended. This dynamic stiffening counteracts the increased deflection of longer cantilever beams, maintaining position accuracy even when the robot arm is extended to reach distant targets
3Strength
If stiffening means are added to the backbone to increase load-carrying capacity, then the robot can perform heavier tasks, but the robot loses flexibility and requires locking mechanisms that limit operational range
Solution Approach 1:
The patent uses inflatable elements that can be dynamically adjusted during operation. When high load-carrying capacity is needed, the elements are inflated to provide stiffening. When operational flexibility and range of motion are required, the elements are deflated, eliminating the need for permanent locking mechanisms and allowing continuous movement throughout the full operational range
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 inflatable sections enhance the robot's stiffness, enabling it to perform a wider range of tasks, including in confined spaces, by providing additional support and stability, thereby increasing its load-carrying capacity and versatility.
Implementation Method 1
The inflatable section may be made from elastic materials such as rubber, silicone rubber, latex rubber
Implementation Method 2
a valve for allowing a fluid into the inflatable outer
Data Source
AI summary
A continuum arm robot comprising: a tool, a tip section comprising a number of sections a manipulatable robotic section having multiple degrees of freedom, a stiffening section comprising a passive core with an inflatable section surrounding the passive core and a valve for allowing a fluid into the inflatable outer; and a passive section comprising a length of flexible conduit, wherein the core of the passive section and the stiffening section contain the cables for manipulating the tip section and the fluid conduit for supplying the fluid to the inflatable outer.