Adjustable Stiffness Morphable Manipulator Using Interlocked Filaments
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Solution Overview
Problem
Current morphable manipulators are not adequately stiff for applying large loads or forces, limiting their use in applications such as inspection, surgery, and engineering, as they are primarily designed for non-contact handling of hazardous materials and lack the necessary strength and stiffness.
Innovation Solution
The development of compliant manipulators with slideably interlocked filaments made from flexible materials like super-elastic nitinol or stainless steel, which can be actuated by filament-actuating devices, and the incorporation of magneto-rheological or electro-rheological fluids to adjust stiffness, allowing for varying degrees of stiffness along the manipulator's length.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a flexible backbone with tendons under pure tension is used, then the manipulator can be made compliant and morphable, but the manipulator lacks adequate stiffness for applying large loads or forces
Solution Approach 1:
The manipulator is divided into multiple discrete sections or modules along its length, with each section containing its own set of interlocked filaments. This segmentation allows each module to contribute to both flexibility and strength, while the modular structure enables the manipulator to achieve complex morphing capabilities through coordinated movement of individual sections.
Solution Approach 2:
The manipulator employs composite construction by combining multiple filament materials with different mechanical properties. The interlocked filaments are made from materials such as shape memory alloys, super-elastic materials, or high-strength polymers, creating a composite structure that simultaneously provides compliance for morphing and sufficient stiffness for load-bearing.
2Object-affected harmful factors
If the manipulator is designed for non-contact handling of hazardous materials, then it can ensure safety, but it cannot perform tasks requiring contact and force application such as surgery or engineering operations
Solution Approach 1:
The manipulator features dynamically adjustable stiffness and mechanical properties through the interlocked filament mechanism. By controlling the interaction between filaments and utilizing materials with dynamic properties such as shape memory effects, the manipulator can transition between compliant states for safe hazardous material handling and stiffer states for forceful contact operations like surgery or engineering tasks.
Solution Approach 2:
The manipulator's mechanical parameters such as stiffness, flexibility, and force-bearing capacity can be changed on-demand through actuation of the interlocked filament system. This allows the same manipulator to adapt its properties to match different task requirements, whether handling hazardous materials requiring compliance or performing surgical operations requiring precision and force control.
3Stability of the object's composition
If uniform stiffness is provided throughout the manipulator, then structural integrity is maintained, but the manipulator cannot provide varying degrees of stiffness at discrete sections for different applications
Solution Approach 1:
The manipulator is divided into multiple discrete sections or modules along its length, with each section containing its own set of interlocked filaments. This segmentation allows each module to contribute to both flexibility and strength, while the modular structure enables the manipulator to achieve complex morphing capabilities through coordinated movement of individual sections.
Solution Approach 2:
Different sections of the manipulator can have locally optimized properties through the interlocked filament design. Each section's filaments can be configured with specific materials, dimensions, and interaction characteristics to provide the desired stiffness or compliance for that particular region, while maintaining overall structural integrity through the interlocked architecture.
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 design provides a stiffer and more robust manipulator capable of applying higher forces, suitable for diverse applications including surgery, inspection, and engineering tasks, with the ability to adjust stiffness for specific requirements, enhancing its versatility and effectiveness.
Implementation Method 1
the stiffness or flexibility of the manipulators may be variably controlled by incorporating, for example, a magneto-rheological fluid
Implementation Method 2
the stiffness or flexibility of the manipulators may be variably controlled by incorporating, for example, a phase transition material, or electro-rheological technology
Data Source
AI summary
Compliant manipulators are provided, in which the manipulators include a plurality of slideably interlocked filaments each having a proximate end and a distal end. The interlocked filaments can be formed from a flexible material. The compliant manipulators can also include at least one filament-actuating device operatively connected to the respective distal ends of the plurality of slideably interlocked filaments. The at least one filament-actuating device can be manipulated directly or remotely to push and/or pull the respective filaments to impart a desired movement to the manipulator. The stiffness or flexibility of the manipulators can also be controlled to provide varying degrees of stiffness during use.