Modular Soft Robot Arms With Tendon Actuation for Shape Adaptation
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Solution Overview
Problem
Existing exploratory robots made of standard manufacturing materials like metal or hard plastic are limited in size and shape adaptability, making them unsuitable for exploring diverse environments and prone to damage, and spherical projection onto a flat plane results in distortion.
Innovation Solution
A modular soft robot design featuring a base, arms, and actuators that can deform between flat and curved configurations, utilizing materials like silicon rubber and motor tendon actuators to minimize distortion, allowing formation of 2D or 3D shapes such as a sphere.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If standard manufacturing materials (metal or hard plastic) are used for exploratory robots, then structural strength is improved, but adaptability to various shapes and environments deteriorates
Solution Approach 1:
The patent employs soft materials with variable mechanical properties that can change their shape and configuration parameters. The robotic system uses materials that allow continuous deformation between different geometric states, enabling adaptation to various environments while maintaining sufficient structural integrity through material selection and design
Solution Approach 2:
The invention implements a dynamic robotic system that can actively change its shape and configuration during operation. The robotic arms and body can deform between extended and retracted states, allowing the robot to adapt its structure to navigate different terrains and environments while maintaining strength when needed
2Adaptability or versatility
If the robot size is increased to improve exploration capability, then the number and size of explorable spaces are improved, but the risk of damage from impacts or falls increases
Solution Approach 1:
The patent utilizes soft, flexible materials for the robotic structure that can absorb impact energies through deformation. The soft body and articulated arms can compress and flex during impacts or falls, dissipating energy and protecting critical components, thereby maintaining reliability while enabling larger exploration-capable sizes
Solution Approach 2:
The robotic system employs dynamic movement and configuration changes to actively avoid impacts and falls. The robot can retract its arms and adjust its posture dynamically during navigation, reducing vulnerability to damage while maintaining exploration capability
3Ease of manufacture
If a spherical robot is flattened onto a plane, then the robot can be manufactured more easily, but distortion is introduced
Solution Approach 1:
The patent divides the spherical robot into multiple modular segments or articulated components that can be manufactured separately using conventional techniques. Each segment maintains accurate local geometry, and the overall spherical shape is achieved through precise assembly of these segments, avoiding the need to flatten the entire sphere
Solution Approach 2:
The invention incorporates curved and spherical geometries directly into the manufacturing process of individual components rather than attempting to flatten a complete sphere. The robotic arms and body segments are manufactured with their intended curved shapes, which then assemble to form the complete spherical configuration
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 modular soft robot can efficiently navigate diverse environments with minimal distortion, adapting to various shapes and terrains, enhancing exploration capabilities and reducing damage risk.
Implementation Method 1
The actuator is a motor tendon actuator at least partially disposed within the arm adjacent the base
Implementation Method 2
The actuator is configured to deform the arm between a flat configuration and a curved configuration
Data Source
AI summary
Various implementations include a modular soft robot including a base, an arm coupled to the base, and an actuator. The arm includes a first surface and a second surface opposite and spaced apart from the first surface. The first surface defines a plurality of channels, each channel comprising a proximal end at the first surface and a distal end spaced apart from the proximal end. Each channel has a longitudinal axis extending therethrough. The actuator is configured to deform the arm.