Remote Electro-Fluidic Drive for Low-Mass Leak-Resistant Actuation
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Solution Overview
Problem
Existing actuator systems suffer from inefficiencies, leaks, noise, and added mass due to centralized pumps or compressors, which necessitate the use of electric motors close to the actuator, increasing the overall robot mass.
Innovation Solution
A remote drive system where an electrical motor drives a fluidically coupled actuator, physically separating the motive force generation from the actuator, using mechanisms like rack and pinion or cable and pulley systems to convert rotational motion into linear motion, with fluidic communication through tubing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a centralized pump or compressor is used to provide pressurized fluid to the actuator, then the actuator can be driven remotely, but leaks occur along the pipes and tubes conveying the pressurized fluid
Solution Approach 1:
The system divides the fluid transmission into multiple sealed chambers (first chamber and second chamber) within the actuator itself, eliminating the need for external pipes and tubes. Each chamber is hermetically sealed, preventing leaks while maintaining remote actuation capability.
Solution Approach 2:
The patent introduces a fluid coupling mechanism where a first fluid and second fluid act as intermediaries to transmit power from the remote drive to the actuator chambers without direct physical connection through pipes, thereby eliminating leak paths.
2Power
If a centralized electrically operated pump or compressor is used, then pressurized fluid can be supplied to the actuator, but the conversion of electrical energy into compressed fluid is inefficient
Solution Approach 1:
The patent replaces the centralized electrical pump/compressor system with a distributed electrical motor directly coupled to the actuator chambers. This substitution eliminates the intermediate fluid compression step and its associated energy losses, achieving more direct and efficient energy conversion.
3Weight of moving object
If a centralized pump or compressor is used, then the actuator can be remotely powered, but objectionable noise and heat are produced
Solution Approach 1:
The system segments the power generation function into distributed electrical motors located at or near each actuator, eliminating the need for a centralized pump/compressor that generates noise and heat. Each local motor operates quietly and generates minimal heat compared to centralized fluid compression systems.
4Loss of energy
If an electrical motor is placed in close physical proximity to the actuator to achieve desired efficiency, then energy conversion is improved, but the relatively large mass of the motor is added to the total mass that the robot must move
Solution Approach 1:
The actuator is segmented into multiple independent chambers (first chamber and second chamber) that can be driven by smaller, more efficient electrical motors. This segmentation allows for optimized motor sizing that reduces overall mass while maintaining high energy conversion efficiency through direct coupling of each motor to its respective chamber.
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 system improves efficiency by reducing leaks and noise, minimizing the mass added to the robot, and allowing for more precise control of movable members.
Implementation Method 1
a remote drive configured for being driven by an electrical motor
Implementation Method 2
an actuator spaced apart from and fluidically coupled with the remote drive and configured for being fluidically powered by the remote drive
Data Source
AI summary
A drive system includes: a remote drive configured for being driven by an electrical motor; and an actuator spaced apart from and fluidically coupled with the remote drive and configured for being fluidically powered by the remote drive.