Rigidizable Insertion Apparatus for Navigating Obstructed Machine Cavities
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Solution Overview
Problem
Existing insertion apparatuses struggle to navigate through machine cavities with obstructions, deform under gravity, and lack individual section actuation, limiting access and maintenance capabilities.
Innovation Solution
An insertion apparatus with a rigidizable body comprising flexibly coupled members that can switch between flexible and rigid configurations, actuated by individual actuator strands, allowing precise navigation and maintenance within machine cavities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the insertion apparatus uses a rigid body structure, then it can maintain its shape and resist deformation under gravity, but it cannot flex to navigate around objects within the cavity
Solution Approach 1:
The body structure transitions from a static rigid configuration to a dynamic reconfigurable system. Each segment can independently change its rigidity state between rigid and flexible, allowing the insertion apparatus to adapt its shape as needed while maintaining stability when required
Solution Approach 2:
The rigidity parameter of each segment is made variable through the use of rigidizable members. By changing the rigidity parameter of individual segments in response to detected conditions, the system optimizes both navigation flexibility and shape stability at different locations along the insertion apparatus
2Ease of operation
If actuators are connected to multiple sections of the insertion apparatus by connectors extending along the apparatus, then forces can be transmitted to position the apparatus, but the actuators cannot actuate every section individually and increase the size of the apparatus
Solution Approach 1:
The actuation system is segmented into multiple independently controllable actuator strands, each associated with specific segments of the insertion apparatus. This allows individual actuation of each segment while distributing the actuation mechanisms along the length of the apparatus, avoiding concentration of complexity in a single location
Solution Approach 2:
Flexible cables or rods serve as intermediaries to transmit actuation forces from actuators located at the insertion end to remote segments along the apparatus. This intermediary mechanism enables individual segment control without requiring actuators to be physically attached to each segment, reducing overall system complexity
3Reliability
If the insertion apparatus is made rigid to maintain position against forces like gravity, then it can hold its position, but it cannot navigate through turns and obstructions in the cavity
Solution Approach 1:
The insertion apparatus employs a reconfigurable structure where segments can dynamically switch between rigid and flexible states. During navigation, segments become flexible to conform to turns and obstacles; during positioning, segments become rigid to maintain position against gravitational and other forces
Solution Approach 2:
The apparatus is divided into multiple independently controllable segments with rigidizable members. This segmentation allows different portions of the apparatus to have different rigidity states simultaneously, enabling the tip to navigate obstacles while the base maintains stable positioning
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
Enhances accessibility and precision in inspecting and repairing hard-to-reach locations within machine cavities, reducing maintenance time and unplanned outages.
Implementation Method 1
each member includes a phase change material and the state of the phase change material is regulated to provide a desired stiffness for the each member
Implementation Method 2
The state of the phase change material is regulated to provide a desired stiffness for the each member
Data Source
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AI summary
An insertion apparatus (102) includes an insertion end (106) positionable within a cavity (146) and configured to travel through the cavity, a steering end (108) opposite the insertion end, and a body (104) extending from the insertion end to the steering end and sized to fit within the cavity. The body includes a plurality of members (110) flexibly coupled together and individually actuated. Each member of the plurality of members includes at least one actuator strand (120). At least one member of the plurality of members has a first configuration in which the at least one member of the plurality of members has a first stiffness and a second configuration in which the at least one member of the plurality of members has a second stiffness greater than the first stiffness. At least a portion of the body is flexible to facilitate travel of the body through the cavity when the at least one member of the plurality of members is in the first configuration. The at least a portion of the body is configured to maintain a selected shape when the at least one member of the plurality of members is in the second configuration.