Helical Rod Wave-Drive for Single-Actuator Crawling Robots
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Solution Overview
Problem
Existing mechanical systems fail to effectively transfer rotational motion into sinusoidal wave-like motion, particularly for applications requiring minimalistic designs and efficient locomotion in diverse terrains, such as crawling robots inside tubes or biological vessels.
Innovation Solution
A mechanical system comprising a helix-shaped elongated rod interlaced within discrete connected hollow elements, where the rotation of the rod creates a wave-like motion by dynamically changing the surface's shape, allowing for propulsive force generation and movement without requiring multiple actuators or complex controllers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single actuator is used to drive the robot, then the device complexity and weight are reduced, but the ability to produce complex wave-like motion is insufficient
Solution Approach 1:
The robot body is segmented into multiple discrete connected hollow elements (links) that can move relative to each other. This segmentation allows a single actuator to generate wave-like motion by sequentially actuating each segment, transforming simple rotation into complex undulating locomotion patterns suitable for various terrains
Solution Approach 2:
The invention transforms rotational motion (one dimension) into wave-like undulating motion (multiple dimensions) through the helical arrangement of links and strategic placement of a single actuator. The rotational input is converted into multi-dimensional locomotion by exploiting the spatial configuration of the segmented body, enabling the robot to navigate complex three-dimensional terrains with minimal actuators
2Productivity
If multiple actuators are used to produce wave-like motion, then the locomotion performance is improved, but the power density and minimalistic design are compromised
Solution Approach 1:
Multiple functional requirements (wave generation, propulsion, navigation) are merged into a single actuator system. The helical link structure allows one actuator to simultaneously perform the work of multiple actuators by distributing the motion generation across different segments of the robot body, maintaining high locomotion efficiency while maximizing power density
3Weight of moving object
If the robot is designed for minimal weight, then the energy consumption is reduced, but the structural strength and reliability may be compromised
Solution Approach 1:
The robot employs hollow elements and flexible link structures that provide sufficient structural strength while minimizing weight. The thin-walled hollow segments maintain structural integrity during wave-like motion and terrain navigation, enabling the robot to achieve minimalistic weight without compromising reliability in rough terrains
Solution Approach 2:
The robot structure transitions from static rigid components to dynamic flexible links that adapt their stiffness and shape during locomotion. This dynamic behavior allows the lightweight structure to maintain reliability by distributing mechanical loads across multiple segments during wave propagation, preventing stress concentration in any single component
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
Enables a single-actuator robot to achieve continuous sinusoidal wave-like motion, facilitating movement over various surfaces, including rough terrains and through narrow passages, with high power density and minimal weight, suitable for applications like maintenance, medical procedures, and search and rescue.
Implementation Method 1
an elongated rod, curved in the form of a helix, substantially aligned along said first Cartesian axis, and rotated by the at least one motor
Implementation Method 2
the said surface interacts with the surrounding medium or base-surface upon-which the device is moving, wherein said interaction is generated by said wave-like motion, such that the said interaction creates a propelling force
Data Source
AI summary
The present invention relates to a device and method for transferring rotational, mechanical motion into sinusoidal wave-like motion. The device comprises at least one motor, generating rotational movement around a first Cartesian axis; an elongated rod, curved in the form of a helix, substantially aligned along said first Cartesian axis, and rotated by the at least one motor; a surface comprised of discrete, connected hollow elements, wherein: (i) the curved rod is interlaced within the said discrete hollow elements, such that the surface is undulated, and the rotation of the curved rod dynamically changes the surface's shape, moving the discrete hollow elements along a second perpendicular Cartesian axis, thus creating a wave like motion; (ii) the width of each said discrete hollow element is slightly larger than the diameter of the helix-shaped rod, so as while rotating, the elongated rod is freely movable within the cavity of the discrete hollow elements, along the third perpendicular Cartesian axis; (iii) the said surface interacts with the surrounding medium or base-surface upon-which the device is moving, wherein said interaction is generated by said wave-like motion, such that the said interaction creates a propelling force that drives said device forward or backward along the said first Cartesian axis.