Patent Grant
11628560
Artificial muscles are a long-sought class of actuators for applications in industrial robots, wearable devices, and medical instruments. Numerous transduction methods have been proposed including thermal stimulus, electric fields, and pressurized fluids. Shape-memory alloys (SMAs) can generate a large contractile stress (>200 MPa) when they are heated above their (solid-state) phase transition temperature, but at the cost of hysteresis and slow cycle times. Low-cost polymer fibers, such as twisted fishing line and sewing thread, have been demonstrated to generate impressively large stresses up to 140 MPa (4.5% stroke) and significant tensile strokes up to 49% (1 MPa load). Similar to SMA, this twisted-fiber based muscle is thermally driven, thus its energy conversion efficiency is low (<2%) relative to natural muscle (40%). Electroactive polymers (EAPs), either ionic or dielectric are widely investigated materials for building artificial muscles due to their relatively high efficiency (˜30%), light weight, and structural compliance (elastic modulus <1 MPa). Polymer-based actuators have material properties that closely mimick muscle and that can produce substantial deformations in the presence of an external electric field, though they often require extremely high voltages (typically >1 kV for dielectric elastomer actuators) or hermetic encapsulation (in the case of ionic polymer-metal composites), posing barriers to practical applications. Electrically driven hydrogels are able to produce various reversible actuations at small scales; however, their responses are relatively slow (from seconds to hours) compared to other artificial muscles.
Fluid-driven actuators are the most widely used artificial muscles due to their simplicity, large actuation stresses and deformations, high energy efficiency, and low cost. The McKibben actuator is one of the most popular fluidic artificial muscles. A linear contraction and large force can be produced when a positive fluidic pressure is applied to a bladder inside an anisotropic outer mesh. This kind of artificial muscle can be driven either pneumatically or hydraulically. However, a high-pressure (>100 kPa) fluid is needed where the pressure is determined by the constituent material properties and desired force and displacement. Related actuators, such as pouch motors and Peano muscles, have a simple planar architecture compared to the standard McKibben actuator. These artificial muscles can generate both linear contraction and torsional motion at a relatively low air pressure (10 kPa). The contraction ratios of these muscles are limited to approximately 36% due to the cylindrical geometry of their inflated membranes. Vacuum-actuated muscle-inspired pneumatic structures (VAMPs) are elastomeric actuators that exhibit similar reversible behaviors and mechanical performances as those of natural skeletal muscle. Planar linear contraction and torsional motion can be generated by VAMPs though the buckling of their elastomeric beams caused by negative pressure (relative to ambient). Negative-pressure operation offers greater safety, compactness, and robustness compared to other fluidic artificial muscles driven by positive pressure, yet the maximum actuation stress (65 kPa) and contraction (45%) that VAMPs can typically generate are limited by the negative pressure (vacuum) and the buckling strength of their elastomeric structures.
Although significant progress has been achieved in studying muscle-like actuators, there remains a long-standing scientific challenge for developing high-performance artificial muscles with low-cost fabrication, complex actuation, easy operation, and scalable implementation.
An architecture for fluidic artificial muscles (actuators) and methods for their fabrication and use are described herein, where various embodiments of the apparatus and methods may include some or all of the elements, features and steps described below.
An artificial muscle system includes a collapsible skeleton; the flexible skin [e.g., with a flexural modulus in a range from 100,000 to 400,000 pounds per square inch (psi)] in which the collapsible skeleton is contained and that, at least in part, defines a sealed volume in which the collapsible skeleton is contained, wherein the flexible skin and skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton with a pressure change in the sealed volume to deploy (e.g., extend or expand) or contract the collapsible skeleton and a fluid displacing, releasing, or capturing mechanism (including, e.g., a pump or fan or a source of vaporized combustion products or a source or sink of other vaporized chemical products or reactants) configured to increase or decrease fluid pressure inside the sealed volume via at least one of displacing, releasing or capturing a fluid. In other embodiments, cooling or heating a fluid in the muscle system can also create a pressure difference between the volumes inside and outside of the skin. These temperature changes, which increase or decrease the pressure of the internal fluid in the sealed volume, can be achieved through both physical methods (e.g., liquid nitrogen or solid carbon dioxide can be supplied as a cooling agent—for example, pumped through a conduit passing through the sealed volume—to extract heat via thermal conduction; or an electrical heating system can be used to increase the temperature via, e.g., resistive heating) and chemical methods (e.g., exothermic or endothermic reactions). Furthermore, phase changes between solid, liquid, and gas of the fluid can also be used to produce pressure changes via, for example, condensation, solidification, and deposition, etc.
In particular embodiments, the artificial muscle system includes a port providing fluid communication between the sealed volume and the fluid displacing, releasing, or capturing mechanism such that fluid can be displaced into or out of the sealed volume to expand or contract the flexible skin. In alternative embodiments, the fluid displacing, releasing or capturing mechanism is contained inside the sealed volume and is configured to achieve at least one of releasing and capturing a gas with a confined structure (e.g., a structure that can chemically bond with or release the gas) inside the sealed volume. In embodiments where the fluid is heated or cooled to change its pressure and volume, the fluid need not be displaced into/from the sealed volume or captured or released in the volume.
The collapsible skeleton can take any of a variety of forms. In particular embodiments, the collapsible skeleton comprises rigid segments linked with flexures (e.g., hinges or bending segments with very small bending radii), wherein the rigid segments are more rigid than the flexures such that the rigid segments can pivot relative to one another at the flexures to change at least one of the dimensions and thus shape/configuration of the collapsible skeleton. In other embodiments, the collapsible skeleton comprises a coil spring or parallel plates mounted to the flexible skin.
A method for actuated movement using the artificial muscle includes creating a pressure differential between the fluid in the sealed volume and the environment surrounding the flexible skin, wherein the flexible skin deploys or collapses with the creation of the pressure differential and causes the collapsible skeleton to undergo a change in at least one of the dimensions and thus geometry.
Displacement, release or capture of fluid changes the pressure in the sealed volume, producing a volume change due to expansion or contraction of the flexible skin to establish a pressure equilibrium with a surrounding environment. The artificial muscle can be used, e.g., to actuate a robotic appendage to manipulate or displace an object.
Also described herein is a tension piston system that includes a chamber and a piston contained in the chamber. The piston includes a collapsible skeleton and a flexible skin in which the collapsible skeleton is contained and that, at least in part, defines (i) a volume inside the piston in which the collapsible skeleton is contained and (ii) a volume outside the piston yet inside the chamber. The flexible skin seals the volume inside the piston from the volume outside the piston, and the flexible skin and the collapsible skeleton are configured for the flexible skin to provide a pulling force on the collapsible skeleton with a pressure difference between the volume inside the piston and the volume outside the piston to change at least one of the dimensions and thus geometry of the collapsible skeleton. The piston also includes a connector mounted to the collapsible skeleton or to the flexible skin and configured to be displaced or rotated when the size or geometry of the skeleton changes and to convey that displacement or rotation outside the chamber. The chamber includes at least two fluid ports, one in fluid communication with the volume inside the piston and another in fluid communication with volume outside the piston.
This new architecture allows one to program artificial muscles and pistons with multi-axial complex motions as well as controllable sequential motions. These artificial muscles can be fast, powerful, and energy efficient, and they can be fabricated at multiple scales using a variety of materials at very low costs. Moreover, 3D laminate pop-up structures, as described, e.g., in U.S. Pat. No. 8,834,666 can be used as the skeleton.
The plots of
In the accompanying drawings, like reference characters refer to the same or similar parts throughout the different views; and apostrophes are used to differentiate multiple instances of the same item or different embodiments of items sharing the same reference numeral. The drawings are not necessarily to scale; instead, an emphasis is placed upon illustrating particular principles in the exemplifications discussed below. For any drawings that include text (words, reference characters, and/or numbers), alternative versions of the drawings without the text are to be understood as being part of this disclosure; and formal replacement drawings without such text may be substituted therefor.
The foregoing and other features and advantages of various aspects of the invention(s) will be apparent from the following, more-particular description of various concepts and specific embodiments within the broader bounds of the invention(s). Various aspects of the subject matter introduced above and discussed in greater detail below may be implemented in any of numerous ways, as the subject matter is not limited to any particular manner of implementation. Examples of specific implementations and applications are provided primarily for illustrative purposes.
Unless otherwise herein defined, used or characterized, terms that are used herein (including technical and scientific terms) are to be interpreted as having a meaning that is consistent with their accepted meaning in the context of the relevant art and are not to be interpreted in an idealized or overly formal sense unless expressly so defined herein. For example, if a particular composition is referenced, the composition may be substantially (though not perfectly) pure, as practical and imperfect realities may apply; e.g., the potential presence of at least trace impurities (e.g., at less than 1 or 2%) can be understood as being within the scope of the description. Likewise, if a particular shape is referenced, the shape is intended to include imperfect variations from ideal shapes, e.g., due to manufacturing tolerances. Percentages or concentrations expressed herein can be in terms of weight or volume. Processes, procedures and phenomena described below can occur at ambient pressure (e.g., about 50-120 kPa—for example, about 90-110 kPa) and temperature (e.g., −20 to 50° C.—for example, about 10-35° C.) unless otherwise specified.
Although the terms, first, second, third, etc., may be used herein to describe various elements, these elements are not to be limited by these terms. These terms are simply used to distinguish one element from another. Thus, a first element, discussed below, could be termed a second element without departing from the teachings of the exemplary embodiments.
Spatially relative terms, such as “above,” “below,” “left,” “right,” “in front,” “behind,” and the like, may be used herein for ease of description to describe the relationship of one element to another element, as illustrated in the figures. It will be understood that the spatially relative terms, as well as the illustrated configurations, are intended to encompass different orientations of the apparatus in use or operation in addition to the orientations described herein and depicted in the figures. For example, if the apparatus in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the exemplary term, “above,” may encompass both an orientation of above and below. The apparatus may be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Further still, in this disclosure, when an element is referred to as being “on,” “connected to,” “coupled to,” “in contact with,” etc., another element, it may be directly on, connected to, coupled to, or in contact with the other element or intervening elements may be present unless otherwise specified.
The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting of exemplary embodiments. As used herein, singular forms, such as “a” and “an,” are intended to include the plural forms as well, unless the context indicates otherwise. Additionally, the terms, “includes,” “including,” “comprises” and “comprising,” specify the presence of the stated elements or steps but do not preclude the presence or addition of one or more other elements or steps.
Additionally, the various components identified herein can be provided in an assembled and finished form; or some or all of the components can be packaged together and marketed as a kit with instructions (e.g., in written, video or audio form) for assembly and/or modification by a customer to produce a finished product.
Described, below, and illustrated in the Drawings is an architecture for fluid-driven, programmable, multi-scale artificial muscles. The architecture may include no more than a collapsible skeleton, a flexible skin, and a fluid medium. A mechanical model is developed to explain the interaction of the three components. A fabrication method is introduced to rapidly manufacture low-cost artificial muscles using various materials and at multiple scales. The artificial muscles can be programmed to achieve multi-axial motions including, but not limited to, contraction, bending, and torsion. These motions can be aggregated into systems with multiple degrees of freedom, which are able to produce controllable sequential motions. Experiments reveal that these muscles can contract over 90% of their initial length, generate stresses of approximately 600 kPa, produce peak power densities over 2 kW/kg, and achieve efficiencies of 59%—all equal to, or in excess of, natural muscle.
This new architecture allows for the mechanical programming of artificial muscles with multi-axial complex motions as well as controllable sequential motions. These artificial muscles can be fast, powerful, and energy efficient, and they can be fabricated at multiple scales using a variety of materials at very low costs.
The artificial muscle (actuator) system includes the following three fundamental components: a collapsible, solid skeletal structure; a flexible, fluid-tight skin; and a fluid medium. In particular embodiments, the skin is sealed as a bag covering the internal components. The fluid medium fills the internal space between the skeleton and the skin. In the initial equilibrium state, the pressures of the internal fluid and the external fluid are equal. However, as the volume of the internal fluid is changed, a new equilibrium is achieved. A pressure difference between the internal and external fluids induces tension in the flexible skin. This tension acts on the skeleton, driving a transformation that is regulated by its structural geometry, as shown in
A simplified mechanical model has been developed to predict the force production of the artificial muscle. In this model, a linear zigzag actuator can be abstracted as a chain of triangular-cylinder-shaped units. Each of these units can be modeled as two hinged rigid beams with an initial opening angle, 2θ, and the hinge can be modeled as two cantilever springs (see
In this study, the focus is primarily on negative-pressure-driven artificial muscles due to their large contracting ratios and ease of fabrication. The membrane's tension force, T, is produced by the pressure difference, ΔP. This force is estimated based on the Laplace Law as T=ΔP·R·W, where R is the radius of curvature of the membrane, and where W is the width of the void. Based on our model, the void's force-contraction interaction can be predicted using the principle of virtual work. The details for the theoretical modeling and the experimental validations are described, below.
For the blocked force estimation on a zigzag actuator, we used a force balancing method to describe the static forces at equilibrium. As written in equation (1), the output force, Foutput, equals the sum of the horizontal tension forces, Tx, from the skin and the pushing force, Fp, applied on the cross-section area of the actuator when there is a pressure difference, ΔP, between the inside and outside fluids of the muscle.
Foutput=2Tx+Fp (1)
The force, Fp, in this model can be calculated as follows:
Fp=ΔP·ΔA=ΔPHW, (2)
where A is the actuator's cross-section area, and where W and H represent the width and height of the actuator, respectively. The force, Tx, is the horizontal part of the skin's tension force, T; and it can be calculated as follows:
Tx=T cosβ (3)
The tension force, T, can be estimated based on the Laplace Law as follows:
T=ΔP×R×W; (4)
and its angle to the horizontal direction, β, is:
where R is the radius of curvature of the skin at the contact point, O. Using a parabolic curve to approximate the skin's curve, R, can be estimated as follows:
In this equation, c is the chord length of the parabolic curve at the void's top (c=2L), and h is the distance from the parabola's vertex to the void's top frame. Based on the experimental measurement of h and a given vacuum pressure, ΔP, the output blocked force can be estimated.
To estimate the force-contraction relation, we built a model based on the principle of virtual work. The output force is a function of the hinge's angle at a constant pressure difference, ΔP, and it can be written as follows:
where δL and δT represent the small virtual changes of the unit void's opening length and the internal fluid's volume, respectively. L is a function of θ, and it can be written as follows:
where D is the wall's length. The internal fluid's volume, V, can be approximated by subtracting a small triangular volume, Vtriangle, from the void's volume, Vvoid, as follows:
V(θ)=Vvoid−Vtriangle; (11)
Vvoid=W×Avoid=WLH=WD2 sinθcosθ; and (12)
Vtriangle=W×Atriangle=WLh=WD sinθ(L02−(D sinθ)2)1/2, (13)
where h is the subtracted triangular portion's height, and where L0 is half the void's opening length. We assume that the skin's total length in one void stays constant during the contraction; then h can be calculated as follows:
h=√{square root over ((L02−L2))}=(S02−(D sinθ)2)1/2; (14)
L0=D sinθ0, (15)
where S0 represents one half of the arc length from the original parabola approximation and can be estimated as follows:
where h0 is the measured depth of the parabolic approximation curve for the skin's initial deformation before contraction. We should note that the skin's length across each void can be estimated based on the void's geometry. However, the estimation accuracy highly depends on the stiffness of the skin material and on the sealing compactness between the skin and the skeleton. The fluid volume can then be written as follows:
V(θ)=WD(D sinθcosθ−sinθ(S02−D2 sin2θ)1/2) (17)
Letting μ=S02−D2 sin2θ, we obtain:
Based on equations (10) and (18), we can obtain the following complete expression for equation (8):
This force function, F(θ), should equal zero when the voids are completely closed (θ=0) in practice. However, due to the inaccurate approximation of the fluid volume, this force estimation does not approach zero.
To correct this force estimation, we introduced a linear correction term, λ(θ), into the model, as shown in equation (21). The force function, F(θ), can then be rewritten in equation (22) with the linear correction term, λ(θ).
The skeleton's elastic force, Fe(θ) can be estimated using a linear cantilever-spring model as follows:
Fe(θ)=ksΔL=ks(L0−D sinθ), (23)
where ks is the bending stiffness of the void's walls. Given the skeleton material's tensile modulus, ks can be calculated by the following equation:
The net output force, Foutput, can be estimated using equation (25), and the total contraction, C(θ), of a linear zigzag actuator with N units can be calculated using equation (26).
Foutput(θ)=2(F(θ)−Fe(θ)) (25)
C(θ)=N×2(L0−L(θ))=2ND(sinθ0−sinθ) (26)
To validate the model prediction, we performed experiments using three linear actuators with zigzag skeletons (see
As shown in
Using this fabrication method, a wide variety of materials can be used to construct artificial muscles for particular applications, deformation patterns, and force-displacement requirements (e.g., as seen in
For the skeleton design and fabrication, two common failures are wall buckling and skeleton sliding. To characterize the performance of the actuator with a buckled skeleton 12, we fabricated two linear actuators 10 with different wall thicknesses for comparison. The skins 14 were made of the same nylon fabric sheet (thickness: 0.34 mm), and the skeletons 12 were 3D-printed using the same zigzag pattern (45 degree angle for each fold). However, the wall thickness of a thicker actuator 12″ is 3 mm, and the wall thickness of a thinner actuator 12′ is only 1 mm, as shown in
As can be seen in
To investigate the sliding effect on the skeleton 12, we compared two linear zigzag skeleton performances. As shown in
Similar to contraction of the buckled actuator, the contraction of the sliding actuator was also significantly reduced from 75 mm to 30 mm (
In general, the skin 14 is designed to be resistant to both the fluids inside and outside of the skin 14. However, to demonstrate the flexibility in materials choices for these artificial muscles, a polyvinyl alcohol (PVA)-based actuator 10 can be fully dissolved in hot water (˜70 ° C.) within five minutes (see
To explore the effect of the skin material selection, we created (a) actuators with a TPU skin 14″ (thickness: 0.24 mm, Young's modulus: 2.7 MPa) and actuators with a TPU-coated nylon fabric skin 14′ (thickness: 0.34 mm, Young's modulus: 320 MPa). Both actuators 10 incorporated 3D-printed nylon zigzag skeletons 12 (see
The maximum contractions of the two actuators (with the nylon skin 14′ and the TPU skin 14″) both approached approximately 60 mm, as shown in
The choice of the fluid depends on the working environment and performance requirements. In addition, the fluid medium is selected to be compatible with the materials used in the skeleton 12, skin 14, and sealing process. In our current study, we focus on using the available fluid surrounding the artificial muscle (actuator) 10. In this case, the internal fluid and the external fluid are homogenous, although using a different internal fluid is also possible for this artificial muscle 10. A fluid with low viscosity is ideal for achieving a rapid and energy-efficient actuation. In most contexts, air is the most accessible fluid for making a light-weight artificial muscle; and the surrounding water can be directly used for the actuation fluid in an underwater environment (see
To demonstrate actuation when driven by two different fluids inside and outside of the skin 14, a load-lifting experiment was carried out, as shown in
The actuator 10 can also be driven by a positive internal pressure difference. In this case, the skin 14 is fixed on the skeleton 12. This fixation process can be achieved by gluing, bonding, tying, riveting, welding, etc. Once the internal pressure inside the skin 14 becomes higher than the external pressure, the skin 14 will be driven to deform outwards by this pressure difference. The tension force produced on the skin 14 will then actuate the skeleton structure 12 to contract.
As shown in
A variety of motions can be achieved by programming the geometry of the skeleton 12. Assuming the fluid pressure is constant everywhere within the skin 12, the skeleton's shape transformation is determined by a combination of the contractions from each individual structural void. Identical voids can be distributed over the skeleton 12 using different arrangements for generating various synchronous contractions. A 90% linear contraction can be produced by an origami skeleton using a symmetrical zigzag geometry (see
In addition to the programmable arrangement for identical voids, voids with different hinge stiffnesses can also be used to achieve differential contractions. This principle can generate asymmetrical out-of-plane motions. For example, a 2D Miura-ori origami skeleton with some hinges weakened can realize a complex motion that combines both torsion and contraction (see
The performance of a group of linear actuators 10 using simple zigzag skeletons 12 was characterized. As shown in
The energy conversion efficiency and the power density of the artificial muscles were both measured on a miniature zigzag actuator made from polyester sheets. This lightweight actuator—similar in mass to a ping-pong ball—can be easily blown away by a small computer fan. In the power density measurement (see
The blocked forces were obtained using a universal testing machine (INSTRON 5544A, Instron Corporation of Norwood, Mass., USA). Each sample was preloaded with a 50-N tension force in order to flatten the skin. To ensure a static test condition, the vacuum pressure was manually tuned through a vacuum regulator (Squire-Cogswell vacuum regulator from Ohio Medical of Gurnee, Ill.) with a very slow rotational speed. The pressure difference, ΔP, was increased to −80 kPa, held for 3 seconds, and then decreased back to 0 kPa in each trial. This actuation-return trial was repeated five times on each actuator sample. A vacuum pressure sensor (MPXV4115VC6U, Freescale Semiconductor, Inc., of Austin, Tex., USA) was used to detect the pressure inside of the actuation system. The generated force was recorded at 10 Hz from the INSTRON machine, and the signal from the vacuum sensor was recorded through a data acquisition device (BNC-2111, National Instruments of Austin, Tex., USA).
To obtain the force-contraction relationship for each actuator, a constant vacuum pressure was applied to the actuator. The actuator was allowed to freely contract at a very low constant speed (1 mm/s) until the load decreased to 0 N. Then, the INSTRON machine started to pull the actuator back to its original body length using the same speed in the contraction phase. This contraction-returning test was performed five times for each actuator, and both the contraction and force data were recorded at 10 Hz.
In the actuation cycle test, a linear zigzag actuator was vertically clamped to a metal stand, and a 1-kg load was attached to it. In each cycle, the actuator was powered for three seconds to lift up the attached load; then the vacuum supply was blocked; and then air was filled into the actuator for another three seconds to release the contraction. This actuation-resting cycle was controlled using a miniature 12-V DC-powered solenoid valve (from Parker Hannifin Corporation of Cleveland, Ohio, USA) with a micro-controller (Arduino Nano, https://www.arduino.cc/), and this process was continuously repeated for 30,000 cycles over 50 hours.
To estimate the actuator's power density, dynamic load-lifting tests were performed. A polyester-based light-weight actuator (mass: ma=2.7 g) was used in these tests. A vacuum (−80 kPa) was directly supplied to the actuator to quickly lift an object with mass mload. In each test, the lifting process was recorded using a camera at 60 frames per second; and the lifting height, hload, and time, Δt, were both obtained using an open source image analyzing software (Tracker, http://physlets.org/tracker/). The power density, ρ, was estimated using the following equation:
where Wa represents the mechanical power of the load-lifting process, El is the final potential energy of the system, and g is the gravitational acceleration. This estimation was repeated five times for each lifting case, and the results were averaged in the table, below.
To measure energy efficiency, the ratio between the input energy, Ein, and the work done by the system, Eout, was empirically measured. Water and air were both used as the internal fluids. In each trial, the fluid was slowly removed from the actuator using a syringe pump (PUMP 11 ELITE from Harvard Apparatus of Holliston, Mass., USA) at a constant low speed (ΔVair=80 mL/min, ΔVwater=10 mL/min), while the pressure data was recorded. A vacuum sensor (MPXV4115V, Freescale Semiconductor) was used in the pneumatic tests, and a pressure transmitter (G2VAC from Ashcroft Inc. of Stratford, Conn., USA) was used in the hydraulic tests. The output energy was estimated by calculating the potential energy increase of the system. An object with known weight, mload, was attached to the bottom of a vertically clamped actuator in each trial. The load-lifting height, hload, was measured using Tracker software. The energy efficiency can be written as follows:
where g is the gravitational acceleration (9.81 m/s2), and Vt is the volume change during each sampling step (0.1 s). This measurement was repeated five times for each lifting case, and the results were averaged, as shown in Table 2.
To characterize skin deformation during actuation, the depth of the geometrical vertex of the deformed skin 14 within a void defined by the skeleton 12 (along with the skin 14) was measured at different air-pressure levels. A laser displacement sensor (LK-031 laser head and LK-2001 controller from Keyence Corporation of Osaka, Japan) was used to measure the displacement of the middle region of the local skin 14 within a void. The sensor was vertically fixed on the INSTRON tester with a 25-mm-thick reference distance to the actuator's skin surface. The flat skin surface before actuation (ΔP=0) was chosen as the reference plane for the displacement measurement. A laser beam was pointed perpendicularly to the skin's surface at the center of the void. Three linear zigzag actuators with different folds angles (30°, 60°, and 90°) were used for the skin deformation measurement. For each actuator, we performed the measurement for five loops (including both the actuation and the release processes) using the same setting as was used in the blocked-force experiments; and each actuator's displacement data was averaged over these five loops, as shown in
Different methods and materials were used to fabricate the actuators described herein. The skeletons for the bending actuator, the three-fingered hand, and all the actuators for static characterization were made of nylon materials using a desktop 3D printer (in this case, The Mark One 3D printer from Markforged, Inc., of Cambridge, Mass., USA). Another 3D printer (LulzBot TAZ 5 3D printer from Aleph Objects, Inc., of Loveland, Colo., USA) was used to print the polyvinyl alcohol (PVA)-based skeleton for the water-soluble actuator 10 (shown in
Similarly, all of the skeletons for the contraction, twisting, and gripping demonstrations, as well as the 2.6-g lightweight actuator, were laser cut and manually folded using polyester sheets (a 0.127-mm-thick sheet for the gripper, and a 0.254-mm-thick sheet for the others). The skeletons for the large-scale lifter and the electronics-embedded actuator were both hinged from several laser-cut nylon and acrylic blocks (thickness: 3.175 mm), respectively. A stainless steel (316) shim (thickness: 0.254 mm) was manually formed to a zigzag-shaped skeleton for the underwater actuator. The skeleton of the cylindrical lifter was based on a compression spring made of 302 stainless steel (outside diameter: 22.5 mm, wire diameter: 1.25 mm). The skeleton of the fully soft actuator was cast from a silicone rubber (ELASTOSIL M4601 silicone from Wacker Chemie AG, of Munich, Germany) using 3D-printed molds.
For the skin materials, a 0.318-mm-thick TPU sheet (from American Polyfilm Inc. of Branford, Conn., USA) was used as the skin 14 for the soft linear actuator (seen in
The majority of the skins were directly sealed by an impulse heat sealer (AIE-410FL sealer from American International Electric, Inc., of City of Industry, Calif., USA) using proper sealing times for the different skin materials. For the miniature bio-compatible actuators shown in
The artificial muscles described above can offer a compliant and powerful way to drive various devices and machines with advantageous material costs, working conditions, scalabilities, and multiple-degrees-of-freedom actuations. These muscles can be easily made from a large variety of materials, and they are able to generate powerful, efficient, and programmable multi-dimensional actuation. This technique allows for quick programming, fabrication, and implementation of actuation systems for very specific working environments at multiple scales, such as active meta-materials [see J. T. Overvelde, et al, “A three-dimensional actuated origami-inspired transformable metamaterial with multiple degrees of freedom”, 7 Nature Communications 10929 (11 Mar. 2016)], miniature surgical devices [see V. Vittiello, et al., “Emerging Robotic Platforms for Minimally Invasive Surgery”, 6 IEEE Reviews in biomedical engineering 111-126 (2013)], wearable robotic exoskeletons [see A. T. Asbeck, et al., “A biologically-inspired soft exosuit for walking assistance”, The International Journal of Robotics Research 0278364914562476 (2015)], transformable architecture, as well as deep-sea manipulators [see K. Galloway, et al., “Soft Robotic Grippers for Biological Sampling on Deep Reefs”, 3 Soft Robotics 23-33 (2010], and large deployable structures in space exploration [see S. A. Zirbel, et al., “HanaFlex: a large solar array for space applications”, SPIE Defense+Security 94671C (2015); S. Guest, et al., “A new concept for solid surface deployable antennas”, 38 Acta Astronautica 103-113 (January 1996); and M. Schenk, et al., “Review of Inflatable Booms for Deployable Space Structures: Packing and Rigidization”, 51 Journal of Spacecraft and Rockets 762-778 (2014)].
The artificial muscle system described and illustrated in the preceding pages can be used in a tension piston system, as described and illustrated, below.
The piston is one of the most important inventions in engineering field over the past several centuries. It is a simple and classic device that can convert fluidic pressure to force and torque and then to produce useful motions. It has been widely used in numerous applications that need force generations or transmissions.
A classic piston 61, including a piston head 56 and a connector rod 58 mounted thereto (shown in
A rolling diaphragm seal has been developed to overcome these drawbacks of the classic piston-chamber structure. This kind of fluid-tight diaphragm is both flexible and strong, and it is usually made of fiber-reinforced elastomer. The diaphragm connects and seals the piston and the chamber wall, and it can roll within a small gap between them when the piston slides inside the chamber. The rolling diaphragm piston can have negligible friction, zero-leakage, and very low hysteresis. The force produced from this kind of piston is close to the force produced by a classic piston 61 with the same size.
Furthermore, a linear fluid-driven actuator can be created without an internal piston, such as an air spring and bellow-shaped actuator. In this actuator, the chamber is made of flexible materials, and the piston head 56 (rigid end) is attached to one end of the chamber 60. This flexible-wall actuator can generate axial expanding or contracting motions if the chamber's internal fluid pressure comes to differ from the external pressure. Similar to the rolling diaphragm piston, the friction and leakage of this kind of actuation can be neglected; however, the output axial force of this flexible-wall cylinder is limited by the area of its rigid end, and its stroke is relatively short.
The piston-based actuator relies on the fluid pressure acting on its piston head (or the flexible chamber's rigid end) to push or pull it to move. There is another kind of mechanism that uses fluid-induced tension force to produce the actuation. In this structure, a fiber-reinforced elastic diaphragm is housed inside a rigid vessel (container), and it is connected to the ambient atmosphere through an orifice in the vessel. A rigid rod is attached to the far end of the diaphragm from inside, and it is used to transmit force and motion. This rod can be driven to slide along the axial direction through the orifice by the membrane's tension force, once the fluid is pressurized inside the vessel. These kinds of mechanisms usually have a shorter stroke compared with the classic piston-cylinder devices, although the output stress can be very high.
Here, we propose a new architecture, named, “tension piston,” for fluid-driven piston devices. As shown in
In the tension-piston system, the chamber houses the components and separates the fluids as inside-chamber fluid 64 and outside-chamber fluid 66 (if existent), which may be ambient air. This chamber 60 can be made of either rigid materials or flexible materials, however it should have sufficient strength to contain other components under a certain fluid pressure. The shape of the chamber 60 can be any 3D geometry that allows the internal components to move, such as a cylinder-shaped, or cuboid-shaped, or prism-shaped chamber 60 for translational piston motions; a cylinder-shaped (or partially cylinder-shaped), or sphere-shaped (or partially sphere-shaped) chamber 60 for rotational piston motions (as shown in
The tension piston 63 in this system usually includes a fluid-tight skin 14, a compressible skeleton 12, a fluid medium (if existent), fluid ports 62 for fluid flow 65 into and out of the chamber 60, a chamber 60, and a mechanical connector 58 coupled with the skeleton 12. The piston skin 14 is made of thin materials that are sufficiently flexible to allow compression, and strong enough to transfer the tension force. These materials are also resistant to both the fluids inside and outside of the piston. The piston skin 14 separates the inside-piston fluid 68 and inside-chamber fluid 64 by covering and sealing the piston skeleton 12 inside of the chamber 60. The piston skin 14 is fixed on the chamber 60 to enable an efficient tension-force generation.
The tension piston skeleton 12 is a compressible solid structure with multiple voids, and these voids allow the skeleton 12 to be compressed to produce desired transformation by the piston skin 14 under a fluid pressure. The piston skeleton 12 can be built from one piece of material or can be a composite, and the skeleton 12 can alternatively be assembled from discrete elements. Springs and elastic materials can be used to join those elements together. The structural voids can be arranged into different geometrical patterns (as shown in
A rigid rod/shaft or flexible non-stretchable cable can be attached to a particular location on the piston skeleton as the connector 58. The attaching location can be either inside or outside of the piston skin 14, as shown in
The fluid medium inside of the piston skin 14 can be directly connected to ambient through a port 62, and it can also be connected to a separate fluid source. This fluid can be the same as the fluid inside the chamber 60, and it can alternatively be a different kind of fluid.
In this system, the piston skeleton 12 will be driven to contract to produce the desired motion, and this transformation primarily relies on the fluid-pressure-induced tension force on the piston skin 14. This fluid pressure can be generated by either pressurizing the inside-chamber fluid 64 or depressurizing the inside-piston fluid 68. For a single-acting piston motion, the springs and elastic materials can help the skeleton 12 to return to its original shape after the actuation, and the piston skin 14 need not be bonded on the piston skeleton 12. To achieve a double-acting piston motion, a reverse external force/torque can be applied to the system through the connectors 58, or the inside-piston fluid 68 can be pressurized, to drive the piston skeleton 12 to return to its original shape. The piston skin 14 can be bonded onto the skeleton 12 in either one of these two approaches. The reverse force/torque can be generated by either another unit of tension piston 63 or by a separate actuator or energy source. It should be noted that multiple tension pistons 63 can be installed inside a single chamber 60 to produce complex multiple motions using a single fluid power source.
To validate our design, we first fabricated a classic cylinder-piston system 61 (top) and cylinder-shaped linear tension piston systems 63 (middle and bottom) with different skin materials, as shown in
We also fabricated two tension piston systems using flexible materials. As shown in the two prototypes of
To compare the performance between the linear tension piston 63 and the conventional piston 61, we conducted static-force measurements on a linear tension piston 63 and on a metal air-cylinder 61 (BIMBA 314-XP) at different air pressures. These two piston system have the same inner diameter of 5.08 cm in their cylinder chamber 60. The result shows that the tension piston 63 can generate approximately two times higher blocked forces than does the conventional piston device 61, as shown in
The tension piston system can offer several advantages compared with the conventional piston system. For example, it can produce a large force/torque at a low pressure, and the force/torque profile can be tuned by using different piston skeletons. A single tension piston can have multiple force/torque outputs in different directions/orientations with different amplitudes, and at different rates. Multiple tension pistons can be arranged into a single chamber and powered by a single fluid pressure. The friction between the tension piston, and the chamber wall can be very low (even close to zero), as the sealing of these two parts is not necessarily needed. Both rigid and flexible materials can be used in a tension piston system, and the system can be built with a compliant body and with various shapes-rather than a rigid cylindrical body.
The tension piston system has a very broad field of potential applications. It can be used as a device, such as a valve, a switch, an actuator, or an engine, etc., to convert fluid pressure/energy to forces/torques and motions. It can also be used as a device, such as a fluid pump, a fluid compressor, a fluidic damper, a shock-absorber, a vibration isolator, a fluidic suspension device, or a fluidic energy storage device, etc., to convert forces/torques to fluidic pressures/energy.
In describing embodiments of the invention, specific terminology is used for the sake of clarity. For the purpose of description, specific terms are intended to at least include technical and functional equivalents that operate in a similar manner to accomplish a similar result. Additionally, in some instances where a particular embodiment of the invention includes a plurality of system elements or method steps, those elements or steps may be replaced with a single element or step. Likewise, a single element or step may be replaced with a plurality of elements or steps that serve the same purpose. Further, where parameters for various properties or other values are specified herein for embodiments of the invention, those parameters or values can be adjusted up or down by 1/100th, 1/50th, 1/20th, 1/10th, ⅕th, ⅓rd, ½, ⅔rd, ¾th, ⅘th, 9/10th, 19/20th, 49/50th, 99/100th, etc. (or up by a factor of 1, 2, 3, 4, 5, 6, 8, 10, 20, 50, 100, etc.), or by rounded-off approximations thereof, unless otherwise specified. Moreover, while this invention has been shown and described with references to particular embodiments thereof, those skilled in the art will understand that various substitutions and alterations in form and details may be made therein without departing from the scope of the invention. Further still, other aspects, functions, and advantages are also within the scope of the invention; and all embodiments of the invention need not necessarily achieve all of the advantages or possess all of the characteristics described above. Additionally, steps, elements and features discussed herein in connection with one embodiment can likewise be used in conjunction with other embodiments. The contents of references, including reference texts, journal articles, patents, patent applications, etc., cited throughout the text are hereby incorporated by reference in their entirety for all purposes; and all appropriate combinations of embodiments, features, characterizations, and methods from these references and the present disclosure may be included in embodiments of this invention. Still further, the components and steps identified in the Background section are integral to this disclosure and can be used in conjunction with or substituted for components and steps described elsewhere in the disclosure within the scope of the invention. In method claims (or where methods are elsewhere recited), where stages are recited in a particular order—with or without sequenced prefacing characters added for ease of reference—the stages are not to be interpreted as being temporally limited to the order in which they are recited unless otherwise specified or implied by the terms and phrasing.
This invention was made with government support under Grant No. FA8650-15-C-7548 awarded by the Department of Defense, Defense Advanced Research Projects Agency; under Grant No. N00014-17-1-2063 awarded by the U.S. Department of Defense/Office of Naval Research; and under Grant Nos. 1226075, 1240383, and 1556164 awarded by the National Science Foundation. The US Government has certain rights in the invention.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US2018/023801 | 3/22/2018 | WO |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2018/175744 | 9/27/2018 | WO | A |
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| 20200130175 A1 | Apr 2020 | US |
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