Robotic Skin Elastomeric Links for Realistic Closed-Chain Motion
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Solution Overview
Problem
Existing skin systems for robots struggle to provide realistic and durable movements, especially in small form factors, due to limitations in connecting skin to mechanical linkages, leading to unnatural movement and high maintenance costs.
Innovation Solution
The integration of integral elastomeric links (IELs) within the skin system, which act as both attachment points for mechanical linkages and functional links in the mechanical linkage, allowing for realistic movement and durable coupling with robotics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional skin systems are connected to mechanical linkages using separate attachment points, then the skin can be attached to robotics, but the connection points become apparent and movement becomes localized rather than realistic
Solution Approach 1:
The patent combines the attachment point and the mechanical linkage into a single integrated elastomeric link. The elastomeric link serves dual functions: it attaches the skin to the robotics while simultaneously acting as a functional link in the mechanical linkage, eliminating separate attachment points and achieving realistic distributed movement across the skin surface.
Solution Approach 2:
The elastomeric link performs multiple functions simultaneously: it provides attachment between skin and robotics, acts as a structural link in the mechanical linkage, and enables realistic skin movement. This multi-functionality reduces the number of components needed while improving movement realism.
2Reliability
If skin systems use separate attachment points for mechanical linkages, then connection is achieved, but durability is reduced due to stress concentration at connection points
Solution Approach 1:
By merging the attachment point with the mechanical linkage into the elastomeric link, the patent eliminates stress concentration at separate connection points. The stress is distributed throughout the entire elastomeric link and surrounding skin material, significantly improving durability and reducing maintenance needs.
3Reliability
If skin systems are made in smaller sizes for realistic application, then realism is improved, but the ability to accommodate mechanical linkages becomes difficult
Solution Approach 1:
The elastomeric link allows small-scale applications by integrating the mechanical linkage function directly into the skin attachment structure. This eliminates the need for separate, space-consuming attachment mechanisms, enabling realistic skin coverage even in small form factors while maintaining full mechanical linkage functionality.
Solution Approach 2:
The elastomeric link functions as a flexible structural element that can be scaled to small sizes while maintaining its mechanical properties. This flexibility allows the system to accommodate small form factors without sacrificing the ability to provide realistic skin movement and appearance.
4Reliability
If traditional connection methods are used between skin and robotics, then attachment is achieved, but maintenance costs are high due to frequent failures
Solution Approach 1:
The integrated elastomeric link eliminates separate attachment points that are prone to failure. By distributing stress throughout the entire link and bonding it integrally to the skin, the system achieves superior attachment stability and durability, significantly reducing maintenance frequency and costs.
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 IELs enable realistic skin movements in smaller sizes by functioning as semi-rigid links, reducing maintenance needs and costs, while providing a superior bond with the skin material, enhancing the durability and realism of robotic skin systems.
Implementation Method 1
Durable materials that are often also flexible and elastic such as plastics and rubbers are used in many applications to create coverings or skins
Data Source
AI summary
A skin or skin system for a robot or robotics assembly is provided that includes one or more integral elastomeric links (or bars) (“IELs”) that are configured for receiving and connection with coupling elements or members (e.g., pivot pins) at the ends of mechanical links/bars. The IELs are also configured to act as a final link of a mechanical linkage made up of these mechanical links to provide a closed chain. For example, the body of each of the IELs, or a portion of the IEL body extending between connection points with the coupling elements of the links/bars of the mechanical linkage, provides a final link in a mechanical linkage forming a closed chain to allow it properly function.