Snap-Through Joint Module for Single-Input Soft Robot Shape Control
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Solution Overview
Problem
Existing pneumatic network (pneu-net) soft actuators require separate input control for each movement and continuous pressure supply to maintain deformed shapes, leading to complexity, bulkiness, and weight, limiting practical industrial use.
Innovation Solution
A snap-through joint module with a first and second member connected by a snap joint portion, guided by a flexible hinge, and controlled by a pneumatic pressure controller, allowing snap-through movements and transitions between two-dimensional and three-dimensional shapes with a single input control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If separate input control is used for each movement in pneumatic network soft actuators, then precise control of each movement is achieved, but device complexity and volume increase
Solution Approach 1:
The patent merges multiple independent pneumatic control systems into a single integrated pneumatic network. The soft actuator uses a unified pneumatic chamber system where pressure applied to one region propagates through elastic coupling to coordinate multiple movements simultaneously, eliminating the need for separate control systems for each degree of freedom.
Solution Approach 2:
The pneumatic network is designed with universal elastic coupling elements that can transmit pressure effects across different regions and orientations. The same pneumatic pressure source can induce bending, twisting, or extension movements depending on the geometric configuration of the soft actuator structure, allowing one control input to achieve multiple movement types.
2Stability of the object's composition
If continuous pressure supply is used to maintain deformed shapes, then shape stability is achieved, but energy consumption and system complexity increase
Solution Approach 1:
The soft actuator employs periodic pneumatic pressure application to achieve sustained shape maintenance. By applying pressure in cyclic pulses rather than continuous supply, the elastic structure maintains deformed configurations through the stored elastic energy, reducing average energy consumption while preserving shape stability during operational phases.
Solution Approach 2:
The elastic structure of the soft actuator serves as a self-maintaining system. Once deformed by pneumatic pressure, the elastic components store energy that automatically maintains the deformed shape without requiring continuous external pressure supply. The structure self-regulates its configuration through elastic recovery forces.
3Adaptability or versatility
If pneumatic network design is optimized for shape transformation, then movement capability is improved, but device volume and weight increase
Solution Approach 1:
The soft actuator utilizes thin-walled elastic shells and membrane structures as the primary load-bearing and actuation elements. These flexible shells can undergo large deformations and shape transformations while maintaining structural integrity, achieving high adaptability with minimal material volume compared to rigid structural alternatives.
Solution Approach 2:
The pneumatic network incorporates composite material structures combining elastic polymers with reinforcing elements or multi-layer constructions. This allows the soft actuator to achieve complex shape transformations and maintain structural stability during deformation cycles without requiring excessive material volume or weight.
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
Enables lightweight, versatile shape transformation and function with a single control input, reducing complexity and size while maintaining deformed shapes without continuous pressure supply.
Implementation Method 1
an elastic bladder in a shape of a pocket that is formed integrally with the elastic cover and capable of expansion and contraction
Implementation Method 2
pneumatic pressure applied to the first member and the second member
Implementation Method 3
make a snap-back movement so that the elastic bladder contracts inward when pressure formed in the first internal space and the second internal space that the first snap shell and the second snap shell respectively face is less than or equal to a first threshold pressure
Implementation Method 4
a flexible, thin film-shaped guide hinge configured to support and connect the end portion of the first member and the end portion of the second member connected by the snap joint portion to allow the first member and the second member to rotate relative to each other
Data Source
AI summary
A snap-through joint module is provided. The snap-through joint module includes a first member having a first internal space to which pneumatic pressure is applied, a second member having a second internal space to which pneumatic pressure is applied, a snap joint portion configured to connect the first member to the second member and capable of a snap-through movement by pneumatic pressure applied to the first member and the second member, and a controller configured to control pneumatic pressure applied to the first internal space and the second internal space.