Reconfigurable Modular Soft Robots for Flat-to-Spherical Exploration
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing exploratory robots made of standard manufacturing materials like metal or hard plastic are limited in size and shape adaptability, making them unsuitable for exploring various environments and prone to damage, and spherical projection onto a flat plane results in distortion.
Innovation Solution
A modular soft robot design featuring a base, arm, and actuator with deformable channels, allowing transformation between flat and curved configurations, utilizing actuators like motor tendon, spring, or memory alloy to minimize distortion and enable reconfiguration into 2D or 3D shapes such as a sphere.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If standard manufacturing materials (metal or hard plastic) are used for exploratory robots, then structural strength is improved, but adaptability to various environments and shapes deteriorates
Solution Approach 1:
The patent employs soft materials with variable mechanical properties that can change their shape and configuration parameters. The robotic system uses materials that allow continuous deformation between different geometric states (flat, curved, spherical), enabling adaptation to various environments while maintaining sufficient structural integrity through material selection and design
Solution Approach 2:
The invention implements a dynamic robotic structure that can actively change its configuration from flat to curved to spherical forms. This dynamic reconfigurability allows the robot to adapt its shape to match different environmental requirements, transitioning between states as needed for exploration tasks
2Ease of manufacture
If spherical configuration is projected onto flat plane, then manufacturing ease is improved, but distortion increases
Solution Approach 1:
The patent incorporates curved and spherical geometric features directly into the robotic structure's design. By integrating curvature into the base configuration rather than attempting to flatten spherical forms, the system achieves accurate spherical morphology without the distortions that would result from projection, while maintaining manufacturability through appropriate material selection and fabrication methods
3Adaptability or versatility
If robot size is increased to improve exploration capability, then exploration coverage is improved, but risk of damage from impacts or falls increases
Solution Approach 1:
The patent utilizes soft materials with compliant mechanical properties that allow the robotic structure to deform under impact loads. This compliance enables the robot to absorb impact energy through controlled deformation rather than rigid fracture, maintaining reliability during exploration activities while preserving the ability to perform exploration functions
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 modular soft robot system effectively navigates diverse terrains and environments with minimal distortion, enhancing adaptability and reducing damage risk through its deformable materials and reconfigurable structure.
Implementation Method 1
a modular soft robot including a base, an arm coupled to the base, and an actuator. The arm includes a first surface and a second surface opposite and spaced apart from the first surface. The actuator is configured to deform the arm between a flat configuration and a curved configuration
Implementation Method 2
In some implementations, the actuator is a motor tendon actuator at least partially disposed within the arm adjacent the base
Implementation Method 3
In other implementations, the actuator is a spring or a memory alloy
Implementation Method 4
In other implementations, the actuator is a spring or a memory alloy
Data Source
AI summary
Various implementations include a modular soft robot including a base, an arm coupled to the base, and an actuator. The arm includes a first surface and a second surface opposite and spaced apart from the first surface. The first surface defines a plurality of channels, each channel comprising a proximal end at the first surface and a distal end spaced apart from the proximal end. Each channel has a longitudinal axis extending therethrough. The actuator is configured to deform the arm.