Hybrid Artificial Muscle Stack With SMA Wire Force Retention
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Solution Overview
Problem
Current robotic technologies relying on rigid components, such as servomotors, face limitations due to their weight-to-power ratio, which restricts their versatility and force exertion capabilities, necessitating the development of more efficient actuation devices.
Innovation Solution
A hybrid actuation device combining a shape memory alloy (SMA) wire with an artificial muscle stack, where the SMA wire contracts to draw plates together, and the artificial muscle stack, comprising dielectric fluid and electrodes, electrostatically retains the actuated state, enhancing both actuation force and displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If fluid-based actuators are used to improve versatility and mimic biological muscle performance, then adaptability and reliability are improved, but the amount of force that can be exerted is limited
Solution Approach 1:
The artificial muscle is divided into multiple discrete components including an electrode pair, dielectric fluid, and expandable fluid region, allowing each component to be optimized independently while working together to achieve both high force and biological-like actuation
Solution Approach 2:
The patent employs fluid-based actuation mechanisms where dielectric fluid and expandable fluid regions work together to generate mechanical force through electrostatic and hydraulic effects, enabling both high force output and versatile motion patterns similar to biological muscles
2Force
If rigid components like servomotors are used to increase actuation force, then force capability is improved, but weight-to-power ratio worsens
Solution Approach 1:
The patent replaces traditional mechanical actuation systems (servomotors, gears, linkages) with an electrostatic-hydraulic artificial muscle system that generates force through electric fields and fluid pressure, eliminating heavy mechanical transmission components while maintaining high force capability
Solution Approach 2:
The system changes the fundamental operating parameters from mechanical rotation and transmission to electrostatic field generation and fluid pressure modulation, achieving higher force-to-weight ratios by operating in different physical domains
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 hybrid actuation device achieves improved actuation force and displacement, enabling the device to lift weights and perform mechanical tasks with increased efficiency compared to traditional robotic systems.
Implementation Method 1
at least one shape memory alloy wire coupled to the first plate and configured to draw the first plate and the second plate together
Implementation Method 2
an electrode pair comprising a first electrode and a second electrode, each positioned in the electrode region of the housing... applying a voltage to the electrode pair, thereby electrostatically attracting the first electrode and the second electrode together
Data Source
AI summary
A hybrid actuation device that includes a first plate coupled to a second plate, a shape memory alloy wire coupled to the first plate, and an artificial muscle stack positioned between the first plate and the second plate. The artificial muscle stack includes a plurality of artificial muscles stacked in a vertical arrangement. Each artificial muscle includes a housing having an electrode region and an expandable fluid region, a first electrode and a second electrode each disposed in the electrode region of the housing and a dielectric fluid disposed within the housing. The expandable fluid region of the housing is positioned apart from a perimeter of the first plate and the second plate.