Robotic Skin with Embedded Reinforcement Layer
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Solution Overview
Problem
Existing robotic skins face challenges in maintaining durability and realism, particularly in high-stress areas, as reinforcement materials are often exposed and prone to pulling away from the skin surface, compromising both durability and movement quality.
Innovation Solution
A method of embedding a reinforcement layer within the skin material by using a mold with offset standoffs to position the reinforcement material a selectable distance from the skin surface, ensuring it is fully enclosed and not exposed, thereby enhancing durability and reducing the likelihood of the reinforcement material being pulled out during use.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If reinforcement material is placed on the surface of the skin, then durability is improved, but the reinforcement material is exposed and prone to pulling away, compromising realism and movement quality
Solution Approach 1:
The reinforcement layer is nested within the skin structure by embedding it at a selectable depth below the outer surface. The skin material is formed over the reinforcement layer, creating a nested configuration where the reinforcement is enclosed within the skin, preventing exposure while maintaining structural support and durability.
Solution Approach 2:
The solution transitions from a two-dimensional surface placement to a three-dimensional embedded configuration. By positioning the reinforcement layer at a selectable depth within the skin thickness, the design adds a depth dimension that resolves the contradiction between surface-level durability and subsurface realism.
2Reliability
If reinforcement material is embedded deeper within the skin, then exposure and pulling away are reduced, but manufacturing complexity increases
Solution Approach 1:
The reinforcement layer is positioned at the desired depth during the mold preparation stage, before the skin material is formed. The mold cavity is configured with the reinforcement layer already in place, allowing the skin material to be poured or molded over it in a single operation, thereby simplifying the overall manufacturing process despite the embedded configuration.
Solution Approach 2:
The mold design serves multiple functions: it defines the outer skin geometry, positions the reinforcement layer at the selectable depth, and facilitates the forming process in a single operation. This multi-functionality reduces manufacturing complexity by consolidating several steps into one universal molding process.
3Ease of operation
If the skin is made flexible for realistic movement, then movement quality is improved, but durability in high-stress areas deteriorates
Solution Approach 1:
The reinforcement layer is strategically positioned within the skin structure to provide localized strength enhancement in high-stress areas without affecting the overall flexibility of the skin. The selectable depth allows optimization of reinforcement placement in regions requiring enhanced durability while maintaining skin flexibility for realistic movement throughout.
Solution Approach 2:
The skin system combines two distinct materials with complementary properties: a flexible skin material for realistic movement and a reinforcement material for enhanced durability. This composite structure integrates the advantages of both materials, creating a skin that is both flexible and durable in high-stress regions.
Data Source
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AI summary
A method for fabricating an artificial skin (780) such as for use with a robotic assembly. The method includes providing a mold assembly (700) with an exterior mold (760) and an interior core (610). A cavity (770) is defined between inner surfaces (768) of the exterior mold (760) and exterior surfaces (614) of the interior core (610), thereby defining a shape and thickness of a skin (780). A surface of the interior core includes offsets or standoffs (616) extending outward from the interior core surface (614). The method further includes positioning a sheet of reinforcement material (620) over the surface such that the sheet contacts the offsets (616). The method includes pouring material for the skin system (780) into the mold to occupy the cavity (770) between the exterior mold (760) and the interior core (610). The method includes disassembling the mold assembly and removing the skin with the sheet of reinforcement material (620) embedded within the skin (780) at an offset distance from a surface (784) of the skin. (Fig.7)