Modular Soft Robot Assembly Using Interlocking Flexible Units
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Solution Overview
Problem
The development of soft robots is hindered by the challenging and time-consuming process of creating master molds, which are difficult to modify, leading to a need for a versatile and easy technique to build soft robots with arbitrary shapes and functionalities.
Innovation Solution
A modular design for soft robots using flexible elementary units with mechanical connectors and a fluidic channel system, allowing for the assembly of robots with varying dimensions and shapes by interlocking units with peg/recess pairs, single-taper dovetail joints, and double-taper dovetail joints, and using materials like polydimethylsiloxane (PDMS) and Ecoflex for actuation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional master mold processes are used to create soft robots, then manufacturing precision can be achieved, but the process becomes time-consuming and difficult to modify
Solution Approach 1:
The soft robot is divided into multiple modular flexible units that can be independently manufactured and then assembled. Each unit contains standardized mechanical connectors (peg/recess pairs, dovetail joints) that enable rapid assembly without requiring complex master molds for the entire robot structure.
Solution Approach 2:
Standardized mechanical connectors and interface protocols are pre-designed and integrated into each flexible unit before assembly. This preliminary preparation of connection interfaces allows for rapid prototyping and modification by simply replacing or reconfiguring individual modules rather than redesigning the entire system.
2Strength
If traditional master mold processes are used to create soft robots, then structural integrity can be ensured, but modification at later stages becomes hard
Solution Approach 1:
The robot structure is segmented into discrete flexible units with standardized connectors. This segmentation allows individual modules to be modified, replaced, or reconfigured while maintaining the structural integrity of the entire system through the standardized connection interfaces.
Solution Approach 2:
The modular design enables dynamic reconfiguration of the robot's structure. Mechanical connectors allow units to be easily assembled, disassembled, and rearranged to create different robot configurations, providing adaptability while maintaining structural strength through proven connector designs.
3Ease of manufacture
If modular design with mechanical connectors is used, then ease of assembly and modification is improved, but device complexity increases
Solution Approach 1:
Standardized mechanical connectors (peg/recess pairs, dovetail joints) are designed to be universal across all flexible units. These same connector types can join units in various configurations and orientations, reducing the need for multiple specialized connection mechanisms and thereby reducing overall system complexity despite the modular architecture.
Solution Approach 2:
All flexible units use homogeneous material properties and standardized connector designs. This homogeneity simplifies the assembly process and reduces the variety of components that need to be managed, offsetting the complexity introduced by modularity through consistency and standardization.
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 rapid prototyping and modification of soft robots, allowing for the creation of robots with unique functions and shapes without the need for new master molds, facilitating design and testing with improved efficiency and flexibility.
Implementation Method 1
an inlet coupled to the fluidic channel, wherein the inlet is configured to couple the fluidic channel to a pressurized fluidic source or a depressurized fluidic source to inflate or deflate a portion of the flexible actuator
Implementation Method 2
each molded flexible unit comprises a mechanical connector configured to couple to another molded flexible unit
Data Source
Figure 1A~1C
Figure 2A~2G
Figure 3A~3C
AI summary
Apparatus, systems, and methods for providing modular soft robots are disclosed. In particular, the disclosed modular soft robot can include a flexible actuator having a plurality of molded flexible units. Each molded flexible unit can include a mechanical connector configured to provide a physical coupling to another molded flexible unit, and the plurality of molded flexible units are arranged to form an embedded fluidic channel. The modular soft robot can also include an inlet coupled to the embedded fluidic channel, where the inlet is configured to receive pressurized or depressurized fluid to inflate or deflate a portion of the flexible actuator, thereby causing an actuation of the flexible actuator.