Fluidic Network Deformation in Soft Actuators
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Solution Overview
Problem
Existing technologies in soft-actuators and soft-robotic applications with embedded fluidic networks fail to quantify the effects of pressurized channels on elastic and mechanical properties, neglect the viscosity of the fluid, and lack dynamic compensation for external forces and vibrations.
Innovation Solution
Embedding fluid-filled networks with precalculated sizes and pressures within flexible solids to create asymmetric deformation fields that counteract external forces, using closed-form equations to design channel networks for specific deformation patterns, and employing feedback systems to adjust internal pressure dynamically.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If fluid-filled networks are embedded in flexible solids to generate bending motion, then actuation capability is improved, but quantitative control of elastic and mechanical properties deteriorates
Solution Approach 1:
The patent applies parameter changes by systematically varying channel geometry parameters (radius, spacing, depth, orientation) and fluid pressure parameters to achieve precise quantitative control over the effective elastic modulus and mechanical properties of the composite structure. This allows transition from qualitative trial-and-error design to quantitative property control.
Solution Approach 2:
The patent treats the fluid-filled channel network embedded in flexible solid as a composite material system, where the interaction between fluid pressure and solid matrix creates effective mechanical properties that differ from both components individually. This composite approach enables tuning of effective elastic modulus and other mechanical properties.
2Shape
If standard fluid pressure is applied to embedded channels, then structure deformation is achieved, but compensation for external forces and vibrations deteriorates
Solution Approach 1:
The patent implements feedback control by sensing external forces and vibrations acting on the structure, then dynamically adjusting the fluid pressure in the embedded channels to generate counteracting deformations. This active feedback mechanism enables compensation for external disturbances and improves structural reliability.
Solution Approach 2:
The patent applies preliminary anti-action by pre-positioning the fluid-filled channel network within the flexible solid structure at strategic locations and orientations, enabling the structure to inherently resist external forces and vibrations before they cause significant deformation. The pre-configured channels can generate immediate counter-deformations upon pressure application.
3Stress or pressure
If low viscosity fluid is used in pressurized channels, then pressure distribution is uniform, but dynamic response control deteriorates
Solution Approach 1:
The patent applies parameter changes by selecting fluids with specific viscosity parameters tailored to the desired dynamic response characteristics. By adjusting fluid viscosity, the system can control the time constant of pressure propagation and dynamic response, enabling transition from static uniform pressure distribution to dynamically controllable pressure fields.
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
This approach enhances the rigidity of structures, allowing them to behave as if made of stiffer materials, compensates for external deformations, and reduces vibrations, enabling the creation of materials with tailored elastic properties and dynamic responses.
Implementation Method 1
applying predetermined pressure at the channel network inlet in order to modify the elastic or elasto-mechanical properties of the flexible solid
Implementation Method 2
The elastic properties of the material of a structure without the effect of the embedded network, determine the deformation which the structure undergoes as a result of the application of external forces
Implementation Method 3
The embedded network should have asymmetric spatial properties relative to the structure in which it is embedded, thereby creating a local moment which attempts to deform the structure
Implementation Method 4
the prior art has not considered the effect of the viscosity of the fluid used to pressurize the chambers, and the effects of the use of a highly viscous fluid are hitherto unknown
Data Source
AI summary
A pressurized, fluid-filled channel network embedded in an elastic structure, asymmetrically to the neutral plane, is used to create a deformation field within the structure by the pressurization of the embedded fluidic network, which can be applied in accordance with external forces acting on the structure. The deformation of the structure resulting from the liquid pressure and geometry of the network is related to a continuous deformation-field function. This enables the design of networks creating steady arbitrary deformation fields as well as to eliminate deformation created by external time varying forces, thus increasing the effective rigidity of the beam. By including the effects of the deformation created by the channel network on the beam inertia, the response of the beam to oscillating forces can be modified, enabling the design of channel networks which create pre-defined oscillating deformation patterns in response to external oscillating forces.