Robotic Joint Tunable Actuator Energy Recovery
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic systems face challenges in minimizing power consumption while maintaining adequate force output, often requiring costly high-output power systems or inefficient low-force systems, and struggle to effectively utilize energy sources due to limited portable power capabilities.
Innovation Solution
A robotic joint system with a tunable actuator joint assembly incorporating a primary actuator and a quasi-passive linear pneumatic actuator, which stores and releases energy to provide a secondary torque, optimizing energy use and compensating for gravitational forces, and featuring a valve that defaults to an open position for safety and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If high-output power systems are employed to meet force output demands, then force output capability is improved, but power consumption and cost increase
Solution Approach 1:
The pneumatic actuator operates in periodic cycles, storing energy during compression phases and releasing it during expansion phases. This periodic action allows the system to meet high force output demands only when needed, rather than continuously operating high-power systems, thereby reducing overall power consumption while maintaining force capability.
Solution Approach 2:
The system recovers energy by capturing and storing pneumatic energy during phases when force is not immediately needed, then recovering and utilizing this stored energy when force output is required. This energy recovery mechanism reduces the need for continuous high-power input while maintaining force output capability.
2Use of energy by moving object
If efficient power systems are employed to improve energy efficiency, then power consumption is reduced, but force output capability deteriorates
Solution Approach 1:
The system employs pneumatic actuators that use compressed gas to generate mechanical force. Pneumatic systems can deliver high force output when needed while consuming less energy during idle or low-demand periods, thus improving energy efficiency without sacrificing force capability. The compressible nature of gas allows for energy storage and release cycles.
Solution Approach 2:
The system changes operational parameters by switching between different power states - using stored pneumatic energy for high-force operations and relying on passive or low-power states for maintenance positions. This parameter switching allows the system to achieve high energy efficiency during low-demand periods while maintaining the capability for high force output when required.
3Ease of operation
If portable power sources are used to enable mobility, then operational autonomy is improved, but power output capability and duration are limited
Solution Approach 1:
The system extracts and separates the energy storage function into a dedicated pneumatic energy storage system, allowing the main power source to be smaller and more portable. By extracting the high-energy-density storage into pneumatic tanks, the system achieves better portability while maintaining the capability for high power output when needed.
Solution Approach 2:
The system performs preliminary action by pre-compressing and storing pneumatic energy before it is needed. This allows portable power sources to be smaller since the high-energy-density storage is achieved through pre-compression rather than requiring large battery capacity, thus improving portability while maintaining power output capability.
4Use of energy by moving object
If passive pneumatic actuators are used to reduce power consumption, then energy efficiency is improved, but control precision and responsiveness deteriorate
Solution Approach 1:
The system transitions from a static passive pneumatic actuator to a dynamic semi-active system where the pneumatic pressure can be adjusted in real-time based on control requirements. This dynamic adjustment allows the system to maintain high energy efficiency through passive pneumatic operation while achieving active control precision when needed by modifying pneumatic parameters.
Solution Approach 2:
The system implements feedback control by monitoring the state of the pneumatic actuator and adjusting pneumatic pressure accordingly. This feedback mechanism allows passive pneumatic actuators to achieve precise control by using pressure regulation as the control variable, thus improving control precision without sacrificing the energy efficiency of passive pneumatic operation.
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 system achieves improved power-to-output energy efficiency, reduces power consumption, and enhances safety by defaulting to an inactive state upon power loss, allowing for controlled movement and reduced risk of uncontrolled rotations.
Implementation Method 1
The piston compresses the gas in the compression chamber to cause the quasi-passive linear pneumatic actuator to store energy upon a first rotation of the first and second support members about the joint and to release energy upon a second rotation
Implementation Method 2
a valve in fluid communication with the gas passageway that selectively restricts flow through the gas passageway
Implementation Method 3
compensating for gravitational forces
Data Source
AI summary
A robotic joint system with integrated safety can include a first support member, a second support member, and a tunable actuator joint assembly including a joint having an axis of rotation about which the first support member and the second support member rotate. The tunable actuator joint assembly can include a primary actuator and a quasi-passive linear pneumatic actuator coupled between the first and second support members. The quasi-passive linear pneumatic actuator can comprise an active state in which the quasi-passive linear pneumatic actuator stores energy upon a first rotation of the first and second support members and releases energy upon a second rotation of the first and second support members opposite the first rotation, and an inactive state that facilitates return of the first and second support members to a default position.