Soft Actuator Flange Fixing for Reliable Base Attachment
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Solution Overview
Problem
Existing soft actuators lack a reliable method for fixation to rigid bases, as they are solely flexible components, necessitating a firm attachment to function as mechanical components.
Innovation Solution
A soft actuator device comprising a cylinder with a flange and a spiral-wound coil that suppresses diameter expansion, and a base with a recess and groove, allowing engagement for secure fixation by engaging the flange with the groove.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a soft actuator is used as a flexible component, then it can deform freely in axial and radial directions, but it cannot be firmly fixed to a rigid base
Solution Approach 1:
The soft actuator is segmented into distinct functional parts: a flexible cylinder for deformation, a flange for fixation, and a coil for radial constraint. The flange is further segmented with engagement protrusions that interface with corresponding grooves in the base, creating discrete fixation points that collectively provide reliable attachment while preserving the flexibility of the main actuator body.
Solution Approach 2:
The coil is nested around the cylinder, with the flange positioned at the end of the cylinder. The engagement protrusions of the flange are nested within the grooves of the base recess, creating a hierarchical nesting structure that integrates flexibility, constraint, and fixation functions in a compact arrangement.
2Reliability
If a flange with engagement protrusions is added to the soft actuator, then fixation to the base is improved, but the device complexity increases
Solution Approach 1:
The flange merges multiple functions into a single component: it provides structural support for the soft actuator, enables radial constraint through integration with the coil, and achieves fixation to the base through engagement protrusions. This merging reduces the need for separate fixation components like screws or clips, thereby limiting the increase in device complexity.
Solution Approach 2:
The flange serves as a multi-functional element that simultaneously anchors the soft actuator to the base, provides a mounting surface for the coil, and offers structural reinforcement at the cylinder end. This multi-functionality reduces the overall component count and simplifies the device architecture while ensuring reliable fixation.
3Stability of the object's composition
If a coil is wound around the cylinder to suppress diameter expansion, then radial constraint is improved, but the ease of manufacture decreases
Solution Approach 1:
The coil is pre-formed into a spiral shape with appropriate tension characteristics before being mounted onto the cylinder. The flange is pre-assembled with the engagement protrusions formed or attached in advance. This preliminary preparation allows for simpler assembly operations where the pre-formed coil and flange are simply positioned and secured, reducing the complexity of the manufacturing process while maintaining effective radial constraint.
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 described method and device enable firm fixation of the soft actuator to a base, preventing detachment and facilitating its use as a mechanical component.
Implementation Method 1
a cylinder that is elastic in an axial direction and in a circumferential direction
Implementation Method 2
a coil that is wound around the cylinder in a spiral shape, suppresses a diameter expansion of the cylinder
Implementation Method 3
engaging the flange and the groove with each other to fix the soft actuator to the base
Data Source
AI summary
Disclosed is a method for fixing a soft actuator to a base, the soft actuator including a cylinder that includes a flange at an end in an axial direction, the cylinder being elastic in the axial direction and in a circumferential direction; and a coil that is wound around the cylinder in a spiral shape, suppresses a diameter expansion of the cylinder, and extends and contracts in the axial direction in accordance with an extension and contraction of the cylinder in the axial direction due to an increase and decrease in pressure within the cylinder, the base having a recess that has a groove, the method including engaging the flange and the groove with each other to fix the soft actuator to the base.