Morpho-functional robots with legged and aerial modes of locomotion

Patent metadata

Field	Value
Publication number	US-2023001757-A1
Application number	US-202017777743-A
Country	US
Kind code	A1
Filing date	Nov 23, 2020
Priority date	Nov 22, 2019
Publication date	Jan 5, 2023
Grant date	—

Abstract

A multi-modal robot capable of legged and aerial locomotion includes a body structure including a plurality of legs, each leg having at least one joint; a plurality of thrusters connected to the body structure; and a plurality of actuators for controlled movement of the legs and thrusters. The plurality of actuators are embedded within composite housing structures in the body structure. The composite housing structures are formed by additive printing of composite material over components of the actuators. The composite housing structures are reinforced by layers of continuous carbon fiber material. A method of constructing an actuator for use in a multi-modal robot is also disclosed. Additionally, a computer-implemented method is disclosed to identify particular locations and sizes of components in multi-modal robots providing the lowest total cost of transport.

First claim

1 . A multi-modal robot capable of legged and aerial locomotion, comprising:
a body structure including a plurality of legs, each leg having at least one joint; a plurality of thrusters connected to the body structure; and a plurality of actuators for controlled movement of the legs and thrusters, said plurality of actuators being embedded within composite housing structures in said body structure, said composite housing structures being formed by additive printing of composite material over components of the actuators, wherein said composite housing structures are reinforced by layers of continuous carbon fiber material.

2 . The multi-modal robot of claim 1 , wherein the composite housing structures are sandwiched between layers of the continuous carbon fiber material to increase stiffness of the composite housing structures.

3 . The multi-modal robot of claim 1 , wherein the layers of continuous carbon fiber material comprise 1 mm thick carbon fiber stock.

4 . The multi-modal robot of claim 1 , wherein the composite material comprises a composite of nylon and chopped carbon fibers.

5 . The multi-modal robot of claim 1 , wherein the actuators include one or more motors or harmonic drive devices.

6 . The multi-modal robot of claim 5 , wherein each harmonic drive device includes a wave generator, a flex spline, and a circular spline.

7 . The multi-modal robot of claim 1 , wherein the robot is quadrupedal legged.

8 . A method of constructing an actuator for use in a multi-modal robot capable of legged and aerial locomotion, said multi-modal robot comprising a body structure including a plurality of legs and thrusters connected to the body structure, wherein the actuators control movement of the legs and thrusters during operation of the multi-modal robot, the method comprising:
(a) performing additive printing of composite material over components of the actuators to form composite housing structures around the components; (b) reinforcing the composite housing structures with layers of continuous carbon fiber material around the composite housing structures; and (c) assembling additional components of the actuators with the components in the composite housing structures to form the actuators for the multi-modal robot.

9 . The method of claim 8 , wherein step (a) is paused to secure an additional component to the component before resuming the additive printing to reduce the number of metal fasteners needed to construct the actuator.

10 . The method of claim 8 , wherein the layers of continuous carbon fiber material comprise 1 mm thick carbon fiber stock.

11 . The method of claim 8 , wherein the composite material comprises a composite of nylon and chopped carbon fibers.

12 . The method of claim 8 , wherein the actuators include one or more motors or harmonic drive devices.

13 . The method of claim 12 , wherein each harmonic drive device includes a wave generator, a flex spline, and a circular spline.

14 . A computer-implemented method, comprising the steps of:
(a) generating a parametrized model of a multi-modal robot capable of legged and aerial locomotion, wherein locations and sizes of given components of the robot are tunable parameters; (b) applying generative design algorithms using the parametrized model to create a robot design space, said design space including a plurality of robot designs having varying locations and sizes of the given components of the robot; (c) using an optimization tool to identify a given robot design in the robot design space having particular locations and sizes of components providing the lowest total cost of transport; and (d) outputting the given robot design for use in constructing a multi-modal robot.

15 . The method of claim 14 , wherein the given components include actuators, electronic components, and joints.

16 . The method of claim 14 , wherein the given components are embedded within composite housing structures in the robot.

Assignees

• Univ Northeastern

Inventors

• Ramezani Alireza

Classifications

• B64C2025/325

  specially adapted for helicopters · CPC title

• B33Y80/00

  Products made by additive manufacturing · CPC title

• B64C25/32

  characterised by elements which contact the ground or similar surface  (arrester hooks B64C25/68) · CPC title

• B60F5/02 Primary

  convertible into aircraft (convertible aircraft B64C37/00; convertible unmanned aerial vehicle [UAV]-type aircraft, e.g. convertible into land vehicles, B64U10/70) · CPC title

• B62D57/032 Primary

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