Untethered Soft Robot with On-Board Compressor
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Solution Overview
Problem
Soft robots reliant on external pneumatic tethers for mobility are limited by tether length and weight, restricting their operation in challenging environments, such as search and rescue applications, where untethered operation is necessary.
Innovation Solution
Development of untethered soft robots using composite materials and a mechanical design that incorporates an electrically powered air compressor, on-board power source, and a valve system, allowing operation for several hours or longer with a lightweight electrical tether, and capable of withstanding harsh conditions like snowstorms and limited exposure to flames.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If soft robots use external pneumatic tethers for actuation, then they can achieve soft robotic motion, but their mobility is limited by tether length and weight
Solution Approach 1:
The patent extracts the pneumatic actuation system from the external tether and relocates it onto the robot itself. The robot carries its own compressed gas reservoir and pneumatic actators, eliminating the need for external tethers and enabling untethered operation in challenging environments.
Solution Approach 2:
The robot is designed to be self-sufficient by integrating an on-board compressed gas reservoir that provides pneumatic pressure to actuators without requiring external supply. This self-service capability allows the robot to operate autonomously for extended periods without tether connections.
2Stress or pressure
If soft robots use external pneumatic tethers, then they can receive pneumatic pressure, but the tethers add significant weight that the robot must carry
Solution Approach 1:
The patent removes the tether from the system and replaces it with an integrated compressed gas reservoir mounted on the robot. This eliminates the tether weight that would otherwise be added to the robot's total mass during operation.
Solution Approach 2:
The patent employs composite material structures, particularly foam-based actuators that combine lightweight materials with pneumatic functionality. These composite structures reduce overall robot weight while maintaining the necessary pneumatic actuation capabilities.
3Adaptability or versatility
If soft robots are designed for untethered operation, then they gain mobility freedom, but they require on-board power and pneumatic systems that increase device complexity
Solution Approach 1:
The patent combines multiple subsystems (compressed gas reservoir, pneumatic actuators, control valves, and power source) into an integrated on-board system. This merging of functions into a unified platform enables untethered operation while managing complexity through systematic integration.
Solution Approach 2:
The patent designs a universal on-board platform that provides both pneumatic actuation and power supply functions. This multi-functional integration allows the same system to deliver both compressed gas for actuators and electrical power for onboard electronics, reducing the number of separate systems required.
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 untethered soft robots can operate autonomously for extended periods, carry significant payloads, and perform tasks like surveillance in harsh environments without the constraints of external tethers, demonstrating resilience and versatility.
Implementation Method 1
an electrically powered air compressor for providing pneumatic pressure to the one or more actuators
Implementation Method 2
In addition, the robots can be operated untethered using a battery pack (for up to several hours)
Implementation Method 3
The soft untethered robots are composed primarily of synthetic elastomers
Data Source
AI summary
A pneumatically powered, fully untethered mobile soft robot is described. Composites consisting of silicone elastomer, polyaramid fabric, and hollow glass microspheres were used to fabricate a sufficiently large soft robot to carry the miniature air compressors, battery, valves, and controller needed for autonomous operation. Fabrication techniques were developed to mold a 0.65 meter long soft body with modified Pneumatic network actuators capable of operating at the elevated pressures (up to 138 kPa) required to actuate the legs of the robot and hold payloads of up to 8 kg. The soft robot is safe to handle, and its silicone body is innately resilient to a variety of adverse environmental conditions including snow, puddles of water, direct (albeit limited) exposure to flames, and the crushing force of being run over by an automobile.