Segmented Soft Robotic Manipulator for Controlled Low-Resistance Bending
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The design of soft robotic manipulators that bend is often intuitive rather than methodical, lacking a rational design process, which hinders the creation of effective devices capable of controlled motion between two points while supporting external forces and moments.
Innovation Solution
A soft robotic manipulator with a coaxial design comprising multiple segments, each with chambers and partition walls, allowing for axial extension and minimal resistance bending, combined with a methodical design approach that optimizes stiffness and layout for specific applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a soft robotic manipulator is designed to provide bending motion through pressurization of chambers, then the manipulator achieves controlled motion between two points, but the design process becomes intuitive rather than methodical, lacking a general rationale
Solution Approach 1:
The manipulator is divided into multiple segments extending co-axially along the manipulator, with each segment containing chambers and partition walls. This segmentation allows for modular design and systematic analysis of bending behavior, transforming the intuitive design process into a methodical approach based on segment configuration and chamber pressurization patterns.
Solution Approach 2:
The design methodology systematically varies key parameters including chamber dimensions, partition wall configurations, and pressurization levels to achieve desired bending motions. By establishing relationships between these parameters and bending outcomes, the invention provides a general rationale that replaces intuitive trial-and-error with a structured parameter optimization process.
2Length of moving object
If the manipulator is designed with low stiffness materials to achieve significant displacements, then the manipulator can undergo large strains, but the manipulator may lack the strength to support external forces and moments
Solution Approach 1:
The manipulator employs partition walls with varying stiffness properties distributed along the manipulator length. By strategically placing stiffer partition walls in regions requiring force support while maintaining softer chamber walls for large deformations, the design achieves both significant displacements and adequate strength to support external forces and moments.
Solution Approach 2:
The manipulator structure combines low stiffness materials in the chambers for large deformations with stiffer partition walls and central elements for structural support. This composite approach allows different regions of the manipulator to have optimized material properties, achieving both large displacements through chamber deformation and sufficient strength through the stiffer partition wall framework.
3Ease of operation
If the manipulator uses a plurality of segments with chambers and partition walls to enable bending, then the manipulator achieves low resistance bending motion, but the device complexity increases
Solution Approach 1:
The manipulator is divided into multiple segments extending co-axially along the manipulator, with each segment containing chambers and partition walls. This segmentation allows for modular design and systematic analysis of bending behavior, transforming the intuitive design process into a methodical approach based on segment configuration and chamber pressurization patterns.
Solution Approach 2:
The partition walls serve multiple functions: they define chamber boundaries, provide structural support, enable bending motion through controlled deformation, and support external forces. By designing elements that perform multiple functions simultaneously, the invention reduces overall device complexity despite the presence of multiple segments and chambers.
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 controlled bending motion with low resistance and enhanced support of external forces and moments, improving the performance and effectiveness of soft robotic manipulators in various applications such as minimal invasive surgery.
Implementation Method 1
Soft robotic manipulators with fluidic actuation are devices with easily deformable structures that comprise a set of chambers that can be pressurised to achieve structural deflection
Implementation Method 2
Soft robots are commonly defined as devices primarily composed of low stiffness material which are frequently used to achieve significant displacements by means of structural deformation
Data Source
AI summary
A soft robotic manipulator adapted to be activated by a pressurised fluid having a first end, a second end, an outer wall and an axis, and comprising a plurality of segments extending co-axially along the manipulator, such that the outer wall of each segment forms part of the outer wall of the manipulator, each segment having a first end and a second end and an outer wall and further comprising a plurality of chambers contained within the outer wall, each of which chambers extends from the first end to the second end, wherein each manipulator segment further comprises a central element extending along the axis of the manipulator segment, and a plurality of partition walls extending from the central element to the outer wall, the chambers being defined by the partition walls and the outer wall, wherein the outer wall of the manipulator comprises the outer wall of each segment.