Laminated Robotic Actuators for Constrained Space Navigation
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Solution Overview
Problem
Conventional robots with rigid structures face limitations in mobility and versatility, particularly in navigating constrained spaces and mimicking the movement of soft-bodied organisms, due to material and actuation constraints.
Innovation Solution
The development of laminated robotic actuators comprising a strain-limiting layer and a flexible inflatable layer, with a pressurizable channel and fluid inlet, allowing for various motions such as bending, twisting, and gripping, and capable of being fabricated using inexpensive materials and processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid structures are used in robots, then structural strength and stability are improved, but mobility and ability to navigate constrained spaces deteriorate
Solution Approach 1:
The patent employs flexible thin films as the primary structural material, replacing traditional rigid components. The robotic actuator is constructed from laminated flexible layers that can bend, twist, and deform to navigate constrained spaces while maintaining structural integrity through the laminated architecture.
Solution Approach 2:
The patent uses composite material structures, specifically laminated flexible layers with different mechanical properties. The combination of multiple flexible material layers creates a composite structure that provides both the necessary flexibility for mobility and sufficient strength for structural stability.
2Adaptability or versatility
If soft materials are used for robotic actuators, then adaptability and mobility are improved, but structural strength and load-bearing capacity deteriorate
Solution Approach 1:
The patent employs composite material structures, specifically laminated flexible layers with different mechanical properties. The combination of multiple flexible material layers creates a composite structure that provides both the necessary flexibility for mobility and sufficient strength for structural stability.
Solution Approach 2:
The patent divides the robotic actuator into multiple segmented flexible layers that can be independently controlled. This segmentation allows different regions to exhibit different mechanical behaviors, with some layers providing flexibility for adaptation while others maintain structural strength.
3Force
If pneumatic actuators are used, then force generation and actuation capability are improved, but device complexity and manufacturing difficulty increase
Solution Approach 1:
The patent uses flexible thin films to create simple pneumatic chambers without requiring complex rigid housings or seals. The flexible layers themselves form the pneumatic actuator chambers, eliminating the need for traditional complex pneumatic component assemblies.
Solution Approach 2:
The patent merges the structural body with the pneumatic actuator chambers by using the flexible laminated layers to serve both structural and actuation functions. This integration eliminates separate components and simplifies the overall device architecture.
4Adaptability or versatility
If thin flexible structures are used, then ability to operate in narrow spaces is improved, but manufacturing precision and quality control become more difficult
Solution Approach 1:
The patent employs flexible thin films as the primary structural material, replacing traditional rigid components. The robotic actuator is constructed from laminated flexible layers that can bend, twist, and deform to navigate constrained spaces while maintaining structural integrity through the laminated architecture.
Solution Approach 2:
The patent uses composite material structures, specifically laminated flexible layers with different mechanical properties. The combination of multiple flexible material layers creates a composite structure that provides both the necessary flexibility for mobility and sufficient strength for structural stability.
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
These actuators provide enhanced mobility, stability, and versatility, enabling robots to operate in narrow spaces and perform complex tasks like delicate surgical procedures, while minimizing the risk of medical complications and improving aerodynamic structures.
Implementation Method 1
a portion of an un-adhered region between the strain-limiting layer and the flexible inflatable layer defines a pressurizable channel
Implementation Method 2
a strain-limiting layer comprising a flexible, non-extensible material
Data Source
AI summary
Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.