Soft-Bodied Structure Earthworm Locomotion via Hydraulic Actuators
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Solution Overview
Problem
Conventional devices for complex motion rely on rigid components, limiting their ability to navigate confined or extreme environments effectively, such as rubble or outer space, where smaller, flexible structures with advanced mobility are needed.
Innovation Solution
A soft-bodied structure capable of earthworm-like motion, featuring hydraulic actuators with dielectric fluid and conductive membranes that allow for peristaltic locomotion, enabling attachment and detachment from surfaces through controlled hydraulic pressure and electrical inputs, facilitated by a control unit for coordinated movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid components and conventional motion systems are used, then structural strength and support are improved, but adaptability to confined spaces and extreme environments deteriorates
Solution Approach 1:
The patent employs a soft-bodied structure composed of flexible materials including an elastomeric body, fluid-filled chambers, and thin-walled actuators. This flexible construction enables the device to conform to and navigate confined spaces, rubble, and extreme environments while maintaining structural integrity through the distributed hydraulic support system.
Solution Approach 2:
The invention utilizes a hydraulic system with fluid-filled chambers and actuators to provide structural support and enable motion. The hydraulic pressure distributed throughout the soft body provides the necessary strength and rigidity when needed, while allowing the structure to remain flexible and adaptable to various terrains and confined spaces.
2Volume of moving object
If smaller device size is used, then ability to fit into confined spaces is improved, but robustness and reliability deteriorates
Solution Approach 1:
The soft-bodied structure is divided into multiple segments including end portions with surface attachments and a medial portion with distributed actuators. This segmentation allows the compact device to achieve robustness through redundancy, where multiple actuators and attachments work together to ensure reliable operation in extreme environments.
Solution Approach 2:
The device incorporates composite construction combining elastomeric materials, fluid-filled chambers, and integrated electronic systems within a compact form. This composite approach enables the small device to maintain robustness and reliability by distributing functional elements throughout the structure.
3Adaptability or versatility
If hydraulic actuators with dielectric fluid and conductive membranes are used, then mobility and adaptability are improved, but device complexity increases
Solution Approach 1:
The patent merges the actuator system with the structural body, where fluid-filled chambers serve dual purposes as both structural elements and actuators. The conductive membranes are integrated into the elastomeric body, eliminating separate components and reducing overall system complexity while maintaining advanced mobility capabilities.
Solution Approach 2:
The hydraulic actuators with dielectric fluid and conductive membranes serve multiple functions: providing structural support, enabling peristaltic motion, and facilitating surface attachment/detachment. This multi-functionality reduces the need for separate dedicated components, thereby managing complexity while enhancing mobility.
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 efficient traversal of varied terrains and confined spaces with enhanced mobility and adaptability, overcoming obstacles and maintaining functionality in harsh environments.
Implementation Method 1
hydraulic actuators with dielectric fluid and conductive membranes that allow for peristaltic locomotion
Implementation Method 2
conductive membranes that allow for peristaltic locomotion, enabling attachment and detachment from surfaces through controlled hydraulic pressure and electrical inputs
Implementation Method 3
surface attachment configured to attach to a surface upon actuation of the end portion actuator
Data Source
AI summary
The soft bodied structures and systems for controlling such devices are described herein. The soft bodied structures can move from a first position to a second position by an earthworm-like motion. The system can include connecting to a first contact point of the surface using a surface attachment. The medial region can include one or more spacer regions. The medial actuators can be actuated to expand the exterior medial surface at the spacer regions, thus moving the unattached end portion forward. The device can then attach to a second contact point using the surface attachment and the end portion actuator of the unattached end portion. Then, the surface attachment of the first attached end portion can detach. The medial actuators and the spacer regions can then relax, followed by detaching the surface attachment of the second attached end portion.