Multi-Layer Soft Pneumatic Actuator for In-Hand Object Rotation
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Solution Overview
Problem
Existing robotic systems face challenges in performing in-hand manipulation tasks, such as rotating or moving objects in the air, due to limitations in gripper complexity and the need for external environment contact, which restricts versatility and accuracy.
Innovation Solution
A multi-layer soft pneumatic actuator is developed, featuring a surface layer with driving protrusions, stacked chamber layers, and an air line layer for injecting air into the chambers. This actuator provides surface driving force to rotate or move objects while being held by a robot mechanism, or applies tangential force when the object is in contact with it.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot gripper applies additional force to rotate or move an object in the air, then the object position can be changed, but the system dynamics change making it impossible to grip the object
Solution Approach 1:
The actuator is divided into multiple independent pneumatic chambers (first chamber, second chamber, third chamber, fourth chamber) arranged in different layers. Each chamber can be independently controlled to generate localized driving forces, allowing the gripper to apply precise rotational or translational forces to the object without compromising overall gripping stability.
Solution Approach 2:
The patent introduces multi-layered pneumatic chambers stacked in the thickness direction of the gripper finger. This three-dimensional arrangement enables the actuator to generate forces in multiple directions (radial, tangential, axial) simultaneously, providing complex in-hand manipulation capabilities while maintaining grip reliability.
2Ease of operation
If existing multi-degree-of-freedom industrial robot arms are used to change object position or angle, then the object can be moved, but the robot must place the object on the ground and hold it again
Solution Approach 1:
The pneumatic actuator provides dynamic control of the object's position and orientation while the robot maintains a continuous grip. The independent pneumatic chambers can be activated in sequence or simultaneously to generate complex motion patterns, allowing the object to be rotated or repositioned in the air without releasing it.
Solution Approach 2:
The multi-layered pneumatic actuator serves multiple functions: gripping the object, rotating the object, and repositioning the object in the air. This integrated design eliminates the need for separate placement and re-gripping operations, reducing manipulation time and improving operational efficiency.
3Ease of operation
If contact with external objects and frictional force are used to move an object, then the object can be manipulated, but the technology is dependent on the external environment
Solution Approach 1:
The pneumatic actuator generates all necessary driving forces internally through controlled air pressure in the pneumatic chambers. The system does not rely on external objects or environmental friction to manipulate the target object, making it adaptable to various environments and independent of external conditions.
4Ease of operation
If complex robotic hands with high degrees of freedom are used for manipulation, then the object can be manipulated in the air, but deep learning networks need to be retrained for different objects
Solution Approach 1:
The patent controls the manipulation by adjusting pneumatic parameters (air pressure, flow rate, chamber activation sequence) rather than changing the physical structure of the actuator. The same multi-layered pneumatic actuator can manipulate different objects by varying the control parameters, eliminating the need for structural reconfiguration or retraining of deep learning networks.
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 multi-layer soft pneumatic actuator enables efficient rotation and movement of objects in the air without the need for external contact, enhancing the versatility and accuracy of robotic in-hand manipulation tasks, while also allowing for a simpler manufacturing process.
Implementation Method 1
an air line layer configured to inject air into each of the first chamber and the second chamber
Implementation Method 2
a surface layer including driving protrusions formed on one surface; a first chamber layer stacked on the other surface of the surface layer and including a first chamber configured to partially overlap the driving protrusion
Data Source
AI summary
Disclosed is a multi-layer soft pneumatic actuator, including: a surface layer including driving protrusions formed on one surface; a first chamber layer stacked on the other surface of the surface layer and including a first chamber configured to partially overlap the driving protrusion; a second chamber layer stacked on a layer different from the first chamber layer on the other surface of the surface layer, including a second chamber having a partial region overlapping the driving protrusion and the first chamber; and an air line layer configured to inject air into each of the first chamber and the second chamber.