Soft Robotic Actuators with Strain-Limiting Walls for Delicate Object Handling
Solution Overview
Problem
Current robotic systems, particularly 'hard' robots, face limitations in maneuverability and versatility when dealing with delicate or irregularly shaped objects and unstructured environments, as they lack the flexibility and modes of movement provided by soft materials and structures.
Innovation Solution
The development of soft robotic actuators configured to perform complex motions such as bending, twisting, and straightening, utilizing pressurizable networks of channels or chambers embedded in elastomeric bodies, which can change shape and mechanical properties with pneumatic or hydraulic pressure, allowing for intricate movements without rigid skeletons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid robotic structures with conventional bearings are used, then structural strength and stability are improved, but maneuverability and adaptability to unstructured environments deteriorate
Solution Approach 1:
The patent employs flexible elastomeric bodies with embedded pneumatic channels that can conform to irregular shapes and surfaces. The soft robotic actuators use elastomeric materials that provide both structural integrity and flexibility, allowing the robot to adapt to unstructured environments while maintaining sufficient strength through the pneumatic pressure support.
Solution Approach 2:
The invention combines elastomeric materials with pneumatic systems to create composite structures that exhibit both flexibility and strength. The elastomeric body provides conformability and softness for handling delicate objects, while the pressurized pneumatic network provides structural support and actuation force.
2Adaptability or versatility
If soft robotic actuators with pressurizable channels are used, then maneuverability and versatility are improved, but structural strength and stability deteriorate
Solution Approach 1:
The patent uses pneumatic pressure to provide both actuation and structural support. The pressurized air in the embedded channels creates internal pressure that strengthens the soft robotic body, enabling it to maintain structural integrity while remaining flexible and maneuverable. The same pneumatic system that enables movement also provides the necessary strength.
3Force
If rigid skeletons are used in robotic manipulators, then load-bearing capacity is improved, but ability to handle delicate objects and fit into tight spaces deteriorates
Solution Approach 1:
The soft robotic actuators use flexible elastomeric shells that can conform to delicate objects without causing damage. The pneumatic pressure within these flexible shells provides the necessary load-bearing capacity, replacing the need for rigid skeletons while maintaining the ability to handle fragile items and navigate tight spaces.
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
These soft robotic devices can handle delicate objects, fit into tight spaces, and move on non-stiff surfaces, offering enhanced maneuverability and versatility compared to traditional hard robots, with the ability to grip and manipulate objects of varying sizes and shapes effectively.
Implementation Method 1
The molded body is configured to preferentially expand when the plurality of interconnected chambers are pressurized by the fluid, causing a bending motion around the strain limiting portion of the molded body
Implementation Method 2
The molded body is configured to preferentially expand when the plurality of interconnected chambers are pressurized by the fluid, causing a bending motion around the strain limiting portion of the molded body
Implementation Method 3
A portion of the molded body is comprised of an elastically extensible material
Data Source
AI summary
A soft robotic device includes a flexible body having a width, a length and a thickness, wherein the thickness is at least 1 mm, the flexible body having at least one channel disposed within the flexible body, the channel defined by upper, lower and side walls, wherein at least one wall is strain limiting; and a pressurizing inlet in fluid communication with the at least one channel, the at least one channel positioned and arranged such that the wall opposite the strain limiting wall preferentially expands when the soft robotic device is pressurized through the inlet.