Pneumatic insect robots

Patent metadata

Field	Value
Publication number	US-10260533-B2
Application number	US-201715665583-A
Country	US
Kind code	B2
Filing date	Aug 1, 2017
Priority date	Jun 26, 2014
Publication date	Apr 16, 2019
Grant date	Apr 16, 2019

Abstract

A modular pneumatic robotic actuator, including a first elongated hollow structure and a second elongated hollow structure connected to each other at a moveable joint; an inflatable bladder comprised of an elastomeric material disposed at the said joint and immobilized between the first and second hollow structures, wherein the said inflatable bladder inflates preferentially away from the joint; and a restraining membrane comprised of an elastomeric material disposed over the bladder and connecting the first and second hollow structures, wherein the said restraining membrane is relaxed when the bladder is deflated.

First claim

What is claimed is:

1. A modular pneumatic robotic actuator, comprising:
a first elongated rigid structure and a second elongated rigid structure connected to each other at a moveable joint,
wherein the movable joint is disposed at a first angle when the moveable joint is unactuated and a second angle when the moveable joint is actuated; and
a restraining membrane comprised of an elastomeric material connecting the first and second rigid structures, wherein the restraining membrane is not stretched in the unactuated state and at least a portion of the restraining member is stretched in in the actuated state, and wherein the portion of the restraining membrane that is stretched provides a restoring force to the actuator to return the movable joint to the first angle.

2. The actuator according to claim 1 , wherein the restraining membrane is attached to the first and second rigid structures by an adhesive.

3. The actuator according to claim 1 , wherein the restraining membrane is attached to the first and second rigid structures by a rope or string.

4. The actuator according to claim 1 , wherein the first and second rigid structures have hooks and the restraining membrane is attached to the hooks of the first and second rigid structures.

5. The actuator according to claim 1 , wherein the first and second rigid structure is made of a material selected from the group consisting of aluminum, copper, brass, polypropylene, poly(vinyl chloride), polycarbonate, poly(tetrafluoroethylene), polyisobutylene, polystyrene, polyacrylonitrile, poly(methyl acrylate), poly(methyl methacrylate), polybutadiene, polychloroprene, poly(cis-1, 4-isopren), and poly(trans-1,4-isoprene).

6. The actuator according to claim 1 , wherein the restraining membrane is made of an elastomeric material selected from the group consisting of polyisoprene, polybutadiene, polyurethane, polychloroprene, butyl rubber, halogenated butyl rubber, styrene-butadiene rubber, nitrile rubber, hydrogenated nitrile rubber, ethylene propylene rubber, ethylene propylene diene rubber, epichlorohydrin rubber, polyacrylic rubber, silicone rubber, fluorosilicone rubber, fluoroelastomers, perfluoroelastomers, polyether block amides, chlorosulfonated polyethylene, ethylene-vinyl acetate, and polysulfide rubber.

7. The actuator according to claim 1 , wherein the joint comprises a web of material that is integral to the first and second rigid structures.

8. The actuator according to claim 1 , wherein the joint is a thinned strip of the same material used for the first and second rigid structures.

9. The actuator according to claim 1 , wherein the joint is a thinned strip of a material different than that used for the first and second rigid structures.

10. The actuator according to claim 1 , wherein the joint is a pin provided at the point where the first and second rigid structures meet.

11. The actuator according to claim 1 , wherein the joint is a ring that passes through a hole located at the end of the first and second rigid structures where the two rigid structures are connected.

12. The actuator according to claim 1 , wherein the joint is a hinge.

13. The actuator according to claim 1 , wherein the joint comprises a notch cut into the first and second rigid structures to introduce tapered edges that meet in the unactuated state and that separate in the actuated state.

14. The actuator of claim 1 wherein an inflatable bladder is disposed between the joint and the restraining membrane.

15. The actuator according to claim 14 , wherein the inflatable bladder, the restraining membrane, and a substantial part of the first and second rigid structures are covered by a fabric material.

16. A method of actuating a modular pneumatic robot actuator comprising:
pressurizing an inflatable bladder with a gas to inflate the bladder,
wherein the modular robotic actuator comprises:
a first elongated rigid structure and a second elongated rigid structure connected to each other at a moveable joint,
wherein the movable joint is disposed at a first angle when the moveable joint is unactuated and a second angle when the moveable joint is actuated; and
a restraining membrane comprised of an elastomeric material connecting the first and second rigid structures, wherein the restraining membrane is not stretched in the unactuated state and at least a portion of the restraining member is stretched in the actuated state, and wherein the restraining membrane that is stretched provides a restoring force to the actuator to return the movable joint to the first angle,
wherein the inflatable bladder is disposed between the joint and the restraining membrane,
wherein the inflatable bladder exerts a force on the restraining membrane causing the moveable joint to open.

17. The method of claim 16 further comprising:
depressurizing the inflatable bladder to deflate the bladder wherein the force exerted on the restraining membrane is thereby removed and the restraining membrane causes the moveable joint to close.

Assignees

• Harvard College

Inventors

• Shevchenko Yanina
• Whitesides George M
• Stokes Adam
• Compton Gabrielle
• Nemiroski Alex

Classifications

• F15B2215/305

  characterised by the use of special materials · CPC title

• F15B15/103 Primary

  using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators · CPC title

• B62D57/032

  with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid (B62D57/024 takes precedence) · CPC title