Self-Contained Soft Robotic Gripper with Integrated Compressor
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Solution Overview
Problem
Soft robotic actuators require pressurization via an inflation fluid, which is typically supplied through a fluid line, tethering the robotic system and limiting its self-contained capabilities.
Innovation Solution
A self-contained soft robotic system with an integrated pressure source, such as a compressor or reaction chamber, and accumulators, which store and deliver inflation fluid directly to the actuator, allowing for independent operation without external fluid supply lines.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fluid line is used to supply inflation fluid to the soft actuator, then the actuator can be pressurized, but the robotic system becomes tethered and loses self-contained capability
Solution Approach 1:
The patent integrates the pressure source (compressor), accumulators, control valves, and soft actuators into a single self-contained robotic system. The compressor and accumulators are mounted within the robotic arm structure, eliminating the need for external fluid supply lines and achieving true self-contained operation.
Solution Approach 2:
The robotic system generates its own inflation fluid pressure through an integrated compressor that draws from ambient atmosphere. The system serves itself by producing the pressurization fluid it needs, rather than relying on external supply infrastructure.
2Speed
If a compressor is used to pressurize the actuator, then the system can be self-contained, but the actuation time may be insufficiently fast
Solution Approach 1:
The accumulator pre-stores pressurized inflation fluid during periods when the compressor operates, so that when actuation is commanded, the fluid is already available and can be delivered immediately to the actuator without waiting for compression.
Solution Approach 2:
The compressor operates periodically to recharge the accumulator, which then provides rapid fluid delivery during actuation events. This periodic charging pattern allows the system to maintain readiness for fast actuation while managing compressor runtime.
3Speed
If the motor is operated outside normal specifications to inflate the actuator quickly, then actuation speed improves, but excessive heat is generated
Solution Approach 1:
The inflation fluid acts as a heat transfer intermediary, absorbing heat from the motor during the inflation process and carrying it away to a heat exchanger, thereby cooling the motor while simultaneously providing the pressure needed for actuation.
Solution Approach 2:
The heat generated by operating the motor outside its normal specifications is converted into a beneficial cooling effect on the inflation fluid, which then transfers this thermal energy to the ambient environment through the heat exchanger, turning a harmful thermal byproduct into a useful cooling mechanism.
4Ease of operation
If multiple accumulators are employed for positive and negative pressure, then actuation control improves, but the system volume increases
Solution Approach 1:
The same accumulator structure serves dual functions by being configured for both positive pressure storage and negative pressure (vacuum) storage, allowing a single component to replace what would traditionally require separate accumulators for each pressure state.
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 faster actuation times and reduced weight and volume, while maintaining efficient operation and heat management, allowing the robotic system to function in confined spaces without impairing the broader manipulation system's ability to maneuver.
Implementation Method 1
The pressure source may be, for example, a compressor for directly or indirectly pressurizing the actuator
Implementation Method 2
An accumulator may receive inflation fluid from the compressor over time, and store the inflation fluid under pressure
Implementation Method 3
The pressure source may be a reaction chamber separate from the actuator and configured to perform a reaction of chemical reagents (e.g. combustion of a fuel) thereby generating and storing the gaseous products of the reaction
Implementation Method 4
The heat exchanger may exchange heat between the motor and the inflation fluid. Due to the expansion of the inflation fluid as it enters the actuator, the inflation fluid may rapidly cool
Data Source
AI summary
Exemplary embodiments relate to improvements in soft robotic systems that permit a soft robotic end effector to be a self-contained system, without reliance on a tether to deliver inflation fluid to the actuator(s) of the end effector. According to some embodiments, a robotic system may be provided including a soft actuator and a hub. The body of the hub may include an integrated pressure source configured to supply inflation fluid through the actuator interface to the soft actuator. The pressure source may be, for example, a compressor (such as a twin-head compressor) or a reaction chamber configured to vaporize a fuel to create a high-temperature pressurized gas and deliver the pressurized gas to the actuator One or more accumulators may receive inflation fluid (or a partial vacuum) from the compressor over time, and store the inflation fluid under pressure, thus allowing actuation over a relatively short time period.