Flexible Robotic Actuators With Concentric Fluid Channels
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Solution Overview
Problem
Current robotic systems face limitations in stability, mobility, and adaptability, especially in demanding environments, due to their rigid structures and limited material selection, which hinders their ability to perform complex motions and interact with unstructured spaces effectively.
Innovation Solution
The development of soft robotic systems using flexible materials like elastomers and strain-limiting layers, integrated with fluidic channels and actuation mechanisms, allows for radial deflection and complex motions, enabling improved interaction with objects and environments through mechanisms like suction and fluid control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid skeletons and hard-bodied structures are used in robots, then structural strength and manufacturing precision are improved, but adaptability and stability in demanding environments deteriorate
Solution Approach 1:
The patent employs flexible elastomeric bodies with embedded fluid channels as the primary structural component, replacing rigid skeletons. The elastomeric material provides both structural integrity and flexibility, allowing the robot to adapt to unstructured environments while maintaining sufficient strength through the integrated fluidic pressure system.
2Ease of operation
If pneumatic actuators with inextensible materials and bellows architectures are used, then actuation capability is improved, but device complexity and manufacturing difficulty increase
Solution Approach 1:
The patent changes the material parameter from inextensible to extensible elastomeric materials, allowing the actuator body itself to expand and contract. This eliminates the need for complex bellows architectures while maintaining pneumatic actuation capability, thereby reducing device complexity.
Solution Approach 2:
The patent uses composite construction combining extensible elastomeric material with embedded fluid channels, creating a unified structure that performs both structural and actuation functions. This integration simplifies the overall device compared to separate actuator components.
3Adaptability or versatility
If soft robotic actuators with extensible polymers are used, then adaptability and mobility are improved, but structural strength and stability deteriorate
Solution Approach 1:
The patent segments the elastomeric body into multiple chambers with embedded fluid channels, allowing localized deformation while maintaining overall structural integrity. This segmentation enables the soft robot to achieve complex motions without sacrificing global stability.
Solution Approach 2:
The patent uses integrated fluidic pressure systems where pressurized fluid channels are embedded within the elastomeric structure. The fluid pressure provides internal support and stability to the soft robot during actuation, compensating for the inherent weakness of extensible polymer materials.
4Adaptability or versatility
If concentric fluid channels are embedded in flexible bodies for radial deflection, then complex motions and object interaction are improved, but manufacturing precision and assembly difficulty increase
Solution Approach 1:
The patent incorporates fluid channels directly into the elastomeric body during the molding process rather than assembling them separately. This preliminary integration of channels into the flexible body eliminates complex assembly steps and ensures precise positioning of channels relative to the body structure.
Solution Approach 2:
The patent uses composite molding techniques to create a unified structure where the elastomeric material and fluid channels are formed together as a single integrated component, simplifying manufacturing while enabling complex concentric channel geometries.
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
Soft robotic systems demonstrate enhanced stability, mobility, and adaptability, capable of performing complex tasks such as gripping, fluid manipulation, and navigating cluttered spaces, while integrating with hard robotic components for enhanced functionality.
Implementation Method 1
the pressurizing inlet is configured to receive pressurized fluid to inflate a portion of the at least two of the plurality of embedded fluid channels, thereby causing a radial deflection of the flexible body
Implementation Method 2
a flexible body having a plurality of embedded fluid channels
Implementation Method 3
at least two of the plurality of embedded fluid channels are arranged concentrically around a central axis of the flexible body
Data Source
Figure 1a~1c
Figure 2a~2f
Figure 3
AI summary
Systems and methods for providing flexible robotic actuators are disclosed. Thanks to the concentrical positioning of a plurality of inflatable channels, the claimed soft robot is capable of providing a radial deflection motion. A method for operating the disclosed robotic systems is also disclosed.