Flexible Robotic Actuators Using Fluid Channels for Radial Deflection
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Solution Overview
Problem
Current robotic systems face limitations in mobility and adaptability, particularly in demanding environments, as they are often based on rigid structures and lack the capabilities of soft-bodied organisms like squid and starfish, which can navigate through constrained spaces and interact with complex surfaces effectively.
Innovation Solution
Development of flexible robotic actuators and systems that utilize embedded fluid channels and pressurization to achieve radial deflection and complex motions, integrating soft and hard robotic components for enhanced mobility and interaction with various surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid body plans with metal skeletons are used, then structural strength and manufacturing precision are improved, but adaptability and mobility in demanding environments deteriorate
Solution Approach 1:
The patent employs flexible elastomeric bodies with embedded fluid channels as the primary structural component, replacing rigid metal skeletons. The elastomeric material allows the robot to conform to complex surfaces and navigate constrained spaces while maintaining structural integrity through the integrated fluid channel network that provides both support and actuation.
Solution Approach 2:
The patent combines elastomeric materials with embedded fluid channels to create a composite structure that integrates structural support, actuation, and sensing functions. This composite approach allows the flexible body to maintain strength while achieving adaptability through the programmable deformation of the elastomeric matrix.
2Strength
If rigid body plans with metal skeletons are used, then structural strength is improved, but mobility and stability in demanding environments deteriorate
Solution Approach 1:
The patent implements dynamic mobility through programmable actuation of the elastomeric body using embedded fluid channels. The system can transition between rigid and flexible states, adjust its shape in real-time, and adapt its mechanical properties during locomotion, enabling stable movement across varied terrains including climbing, rolling, and hopping modes.
Solution Approach 2:
The patent changes the mechanical parameters of the robot body by controlling fluid pressure within the embedded channels. By adjusting pressure levels and distribution, the system can modify its stiffness, shape, and volume dynamically, enabling transitions between different locomotion modes and adaptation to varying environmental conditions.
3Adaptability or versatility
If soft materials are used for flexible actuators, then adaptability and interaction with complex surfaces are improved, but manufacturing complexity increases
Solution Approach 1:
The patent merges multiple functions into the elastomeric body structure itself. The embedded fluid channels serve dual purposes as both structural support elements and actuation mechanisms, eliminating the need for separate skeletons and actuators. This integration simplifies the overall system architecture while maintaining adaptability.
Solution Approach 2:
The elastomeric body with embedded fluid channels serves multiple functions simultaneously: structural support, actuation, sensing, and interaction with the environment. This multi-functional design reduces the number of separate components needed, thereby reducing manufacturing complexity despite the sophistication of the capabilities achieved.
4Speed
If soft materials with embedded fluid channels are used, then mobility and stability are improved, but device complexity increases
Solution Approach 1:
The patent segments the fluid channel network into multiple independent channels embedded within the elastomeric body. This segmentation allows for independent control of different body regions, enabling complex locomotion patterns and stable navigation through programmable deformation of specific channel segments while keeping the overall system architecture manageable.
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 flexible robotic systems demonstrate improved stability, mobility, and ability to interact with complex surfaces, enabling tasks that traditional robots struggle with, such as navigating through cluttered environments and gripping non-porous surfaces.
Implementation Method 1
a pressurizing inlet coupled to the at least two of the plurality of embedded fluid channels, where 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
The flexible material can include an elastomeric material, and the flexible molded body can include an elastomeric molded body
Data Source
AI summary
Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.