Soft Buckling Actuators for Parallel Actuation

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Solution Overview

Problem

Soft actuator designs lack efficient mechanisms for parallel actuation, which is crucial for complex robotic movements, as they often require multiple actuators to work synchronously, a challenge not adequately addressed by existing technologies.

Innovation Solution

The development of soft actuators that utilize buckling as a mechanism for actuation, featuring a rotation center with offset bucklable, elastic structural components and cells connected to a fluid inflation or deflation source, allowing for synchronous movements and force generation through fluid pressure changes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple actuators are used to achieve complex robotic movements, then the movement capability is improved, but the control complexity increases

Engineering Contradiction:

Improvemovement capabilityVSAvoidcontrol complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The actuator is divided into multiple independent cells (first cell, second cell, third cell) that can be controlled independently or collectively. Each cell contains bucklable structural components that can be actuated separately to produce different movement patterns, enabling complex robotic movements while maintaining simplified control through modular segmentation

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The single actuator design incorporates multiple cells with bucklable structural components that can perform multiple functions: generating torque for rotation, producing linear motion through expansion/contraction, and creating complex movement patterns when cells are actuated in different sequences. This multi-functional design reduces the need for multiple separate actuators

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Manufacturing precision

If hard actuators with gears and levers are used for parallel actuation, then precision is improved, but the mechanism complexity increases

Engineering Contradiction:

Improveparallel actuation precisionVSAvoidmechanism complexity

Core Design Contradiction:

Manufacturing precisionVSDevice complexity

Solution Approach 1:

The invention replaces traditional hard mechanical systems (gears, levers) with a soft pneumatic system. Multiple cells filled with fluid can be inflated or deflated simultaneously to produce synchronized parallel actuation of bucklable structural components. This substitution eliminates complex mechanical linkages while achieving precise parallel movement through fluid pressure control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The actuator uses changes in fluid pressure parameters to control the buckling behavior of structural components. By adjusting pressure levels and distribution across different cells, the system achieves precise control over parallel actuation without requiring complex mechanical precision components

Inventive Principle:

Principle #35Parameter changes

3Ease of operation

If soft actuators are designed with buckling mechanism, then the ease of operation is improved, but the force generation capability may be reduced

Engineering Contradiction:

Improveoperation simplicityVSAvoidforce generation

Core Design Contradiction:

Ease of operationVSForce

Solution Approach 1:

The bucklable structural components are designed with specific local geometric qualities (thin-walled structures, predetermined buckling directions) that enable them to generate significant force during buckling events. The offset arrangement of these components from the center of mass creates lever arms that amplify the force output, compensating for the inherently lower pressure levels in soft actuators

Inventive Principle:

Principle #3Local quality

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 easy realization of parallel actuation, delicate object handling, and sophisticated movements with simple input, suitable for robotic applications such as swimmers, grippers, and synchronized parallel actuation of attached objects.

Implementation Method 1

A new class of soft actuators that use buckling as a mechanism for actuation

Methodology Applied

Scientific EffectBuckling:

Implementation Method 2

a plurality of bucklable, elastic structural components each comprising a wall

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 3

configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle

Methodology Applied

Scientific EffectFluid pressure: Pressure Increase

Data Source

PatentUS10584724B2Soft buckling actuators

Publication Date: 2020.03.10 PRESIDENT & FELLOWS OF HARVARD COLLEGE

AI summary

A soft actuator is described, including: a rotation center having a center of mass; a plurality of bucklable, elastic structural components each comprising a wall defining an axis along its longest dimension, the wall connected to the rotation center in a way that the axis is offset from the center of mass in a predetermined direction; and a plurality of cells each disposed between two adjacent bucklable, elastic structural components and configured for connection with a fluid inflation or deflation source; wherein upon the deflation of the cell, the bucklable, elastic structural components are configured to buckle in the predetermined direction. A soft actuating device including a plurality of the soft actuators and methods of actuation using the soft actuator or soft actuating device disclosed herein are also described.