Pressurizable Soft Robotic Housing for Rapid Actuator Inflation
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Solution Overview
Problem
Conventional soft robotic actuators face challenges in rapidly achieving high pressure and are often complex, costly, and bulky, making them inefficient for fast and forceful actuation, especially when multiple actuators are used together, and they can be difficult to integrate into small spaces.
Innovation Solution
A soft robotic actuator with a pressurizable housing divided into two spaces, where the volume of one space can be manipulated to alter internal pressure, using a piston and adjustable stops to control inflation and deflation, and a small diameter tubing system for efficient fluid delivery, along with a pressure sensor for leak detection and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If conventional compressors or pumps are used to pressurize soft robotic actuators, then the actuators can be inflated, but the pressurization process is slow and cannot achieve high pressure in a short amount of time
Solution Approach 1:
The housing is divided into a first space containing the actuator and a second space for receiving pressurizing fluid, separated by a piston. This segmentation allows independent control of pressurization and actuation spaces, enabling rapid pressure changes without requiring large volumes of inflation fluid to be moved through long supply lines.
Solution Approach 2:
A piston acts as an intermediary between the pressurizing fluid in the second space and the actuator in the first space. The piston transmits pressure from the pressurizing fluid directly to the actuator, eliminating the need for traditional supply lines and enabling fast, direct pressurization.
2Reliability
If traditional inflation mechanisms with supply lines and compressors are used, then actuators can be pressurized, but the system becomes complex and costly
Solution Approach 1:
The pressurizing mechanism is merged directly into the housing structure. The housing itself becomes the pressure vessel, with the piston integrated into the housing walls. This eliminates separate compressors, supply lines, and control valves, reducing system complexity while maintaining reliable actuator pressurization.
Solution Approach 2:
The housing serves multiple functions: it contains the actuator, provides the pressurization chamber, houses the piston mechanism, and acts as the structural framework. This multi-functionality reduces the number of separate components needed, simplifying the overall system.
3Stress or pressure
If conventional compressors and pumps are deployed near the gripper, then high pressure can be achieved, but the system weight and size increase significantly
Solution Approach 1:
The heavy compressor or pump is extracted from the vicinity of the gripper and relocated to a remote location. Only the lightweight piston and housing remain at the gripper, while the pressurizing fluid is supplied through lightweight tubing from the remote compressor, dramatically reducing the weight and size of the moving robotic system.
4Adaptability or versatility
If multiple actuators are inflated together using conventional methods, then coordinated action is achieved, but the pressurization time increases due to fluid supply limits
Solution Approach 1:
Each actuator has its own dedicated housing and piston, creating independent pressurization chambers. This segmentation allows multiple actuators to be pressurized simultaneously without competing for fluid supply, enabling fast coordinated action while maintaining full adaptability and control over each individual actuator.
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 fast and forceful actuation with reduced complexity and size, allowing for efficient use in multiple actuator systems and compact deployments while ensuring safety through leak detection and pressure control.
Implementation Method 1
A volume of the second space is manipulable to change a volume of the first space and thereby alter an internal pressure of the internal void
Implementation Method 2
The soft robotic actuator may include an elastomeric outer surface surrounding an internal void. The soft robotic actuator may be configured to curl when an inflation fluid is supplied to the internal void
Data Source
AI summary
Exemplary embodiments relate to pressurizable housings for a soft robotic actuator. The pressurized housings may be divided into an upper chamber in fluid communication with an internal void of the actuator, and a lower chamber connected to an inlet and an outlet. The upper chamber and lower chamber may be separated by a piston. By supplying a fluid to the lower chamber via the inlet, the piston is moved into the space previously occupied by the upper chamber, which reduces the volume of the upper chamber and increases the pressure in the internal void. This action allows the actuator to be rapidly inflated, and further simplifies the pressurization system and reduces its weight.