Mechanisms for creating undulating motion, such as for propulsion, and for harnessing the energy of moving fluid
Mechanisms are described which receive and transfer forces via transducers having one or more persistent deformations in changeable locations. Actuator or propulsion embodiments are powered by elastic or variable length transducers that exert forces on the deformed members which in turn exert forces onto ambient fluid such as air or water. Generator embodiments receive forces from ambient moving fluid via deformed members which transfer those forces to elastic or variable length transducers which convert those forces into electrical energy.
1. An articulated apparatus, comprising:
a central core member;
a plurality of transducers
wherein each of the plurality of transducers is connected at a first position to an outer surface of the central core member and at a second position to at least one of a plurality of flexible articles disposed in contact with a fluid,
wherein each of the plurality of flexible articles has at least one contact surface permanently configured with at least one persistent deformation projecting transverse to a central axis of the central core member and maintained via at least one restraining component,
wherein the at least one restraining component comprises a plurality of vertebra plates, and
wherein undulations of the at least one persistent deformation correspond to excitations of the plurality of transducers.
2. The apparatus of claim 1 , wherein each transducer is connected at the second position to the at least one of the plurality of flexible articles via one of the plurality of vertebra plates.
3. The apparatus of claim 2 , further comprising:
a plurality of flexible strips, wherein each of the plurality of flexible strips attaches corresponding edges of the plurality of vertebra plates together, and
wherein the plurality of flexible strips form an enclosed volume containing the plurality of vertebra plates, the plurality of transducers, and the central core member.
4. The apparatus of claim 1 , wherein each transducer is comprised of electroactive material.
5. The apparatus of claim 4 , wherein the electroactive material is an electroactive polymer.
6. The apparatus of claim 4 , further comprising:
a generator control circuit coupled to the plurality of transducers,
wherein undulations of the persistent deformations are induced by flowing of the fluid, and
wherein the undulations of the persistent deformations induce the excitations in the plurality of transducers to drive the generator control circuit.
7. The apparatus of claim 6 , further comprising:
a power conversion circuit coupled to the generator control circuit to receive power therefrom; and
an energy storage device coupled to the power conversion circuit and configured to store energy received from the power conversion circuit.
8. The apparatus of claim 4 , further comprising:
an actuation circuit coupled to the plurality of transducers,
wherein the excitations in the plurality of transducers are driven by the actuation circuit, and
wherein the excitations in the plurality of transducers induce the undulations of the at least one persistent deformations to drive the fluid in a direction substantially parallel to the axis of the central core member.
9. The apparatus of claim 8 , wherein the central core member is flexible, and further comprising:
a plurality of longitudinal transducers, comprised of electroactive material, coupled to the central core member and the actuation circuit and oriented in a direction substantially parallel to the axis of the central core member;
a control circuit coupled to the actuation circuit and configured to selectively control tension and compression in members of the plurality of longitudinal transducers causing bending of the central core member.
10. The apparatus of claim 9 , further comprising:
a sensor circuit coupled to the plurality of longitudinal transducers to detect the excitations, and coupled to the control circuit to affect selective control of the excitations of the plurality of longitudinal transducers.
11. The apparatus of claim 1 , wherein the central core member is rigid.
12. The apparatus of claim 1 , wherein each transducer comprises a pressure-controlled member.
13. The apparatus of claim 1 , further comprising:
an anchor member connected at a first end of the central core member and fixed in position relative to the fluid.
14. The apparatus of claim 1 , wherein the plurality of flexible articles are positioned symmetrically around the central core member.
15. The apparatus of claim 1 , wherein at least two of the undulations of the persistent deformations are out of phase relative to each other.
16. The apparatus of claim 1 , wherein at least two of the undulations of the persistent deformations are in phase relative to each other.
17. The apparatus of claim 1 , wherein the plurality of transducers comprise:
a first group of transducers cycled through states of excitation substantially in phase with each other; and
a second group of transducers cycled through states of excitation substantially in phase with each other but out of phase with the first group of transducers.
18. The apparatus of claim 1 , wherein the excitations in the plurality of transducers corresponds to rotational oscillations of the at least one restraining component about the central axis of the central core member.
19. The apparatus of claim 1 , wherein the transducers are mechanical transducers.
20. The apparatus of claim 1 , wherein the transducers are electromechanical transducers.
21. The apparatus of claim 1 , wherein the excitations of the plurality of transducers occur by applying voltage to at least one of the plurality of transducers.
22. The apparatus of claim 1 , wherein the excitations of the plurality of transducers occur by applying current to at least one of the plurality of transducers.
23. The apparatus of claim 1 , wherein the excitations of the plurality of transducers occur by at least one of applying and releasing pressure to at least one of the plurality of transducers.
24. The apparatus of claim 1 , wherein the excitations of the plurality of transducers occur by applying a magnetic field to at least one of the plurality of transducers.
25. The apparatus of claim 1 wherein the transducers are comprised of a magnetostrictive material.
26. The apparatus of claim 1 , wherein the transducers are comprised of a metal coil passing through a magnetic field.
27. The apparatus of claim 1 , wherein the transducers are comprised of hydraulic pistons.
28. The apparatus of claim 1 , wherein the transducers are comprised of pneumatic pistons.
29. The apparatus of claim 1 , wherein the transducers are comprised of shape memory alloy elements.
30. The apparatus of claim 1 , wherein the plurality of flexible articles are crenated strip fins.
31. The apparatus of claim 1 wherein each of the plurality of transducers is linear and the first position is a first end and the second position is a second end.
32. The apparatus of claim 31 wherein the excitation of the transducers correspond to lengthening of the transducers.
33. The apparatus of claim 1 wherein connection at the first position is a fixed connection and connection at the second position is a rotational coupling.
34. The apparatus of claim 33 wherein each of the plurality of vertebra includes an aperture, and wherein the second position is at an edge of the aperture.
35. The apparatus of claim 1 wherein the central core member is attached to a vessel.
36. An articulated apparatus, comprising:
a flexible central core member;
a plurality of longitudinal transducers connected to an outer surface of the flexible central core member and oriented substantially parallel to an adjacent portion of the central axis of the flexible central core member,
wherein the plurality of longitudinal transducers are comprised of electroactive material;
a plurality of transverse transducers,
wherein each of the plurality of transducers is connected at a first end to the outer surface of the flexible central core member;
a plurality of flexible articles disposed in contact with a fluid,
wherein each of the plurality of flexible articles has at least one contact surface permanently configured with a persistent deformation projecting transverse to a central axis of the flexible central core member and maintained via at least one vertebra plate,
wherein each of the plurality of transducers is connected at a second end to at least one of the plurality of flexible articles via the at least one vertebra plate, and
wherein undulations of the persistent deformations correspond to excitations in the plurality of transducers;
an actuation circuit coupled to the plurality of transducers,
wherein the excitations in the plurality of transducers are driven by the actuation circuit, and
wherein the excitations in the plurality of transducers induce the undulations of the persistent deformations to drive the fluid in a direction substantially parallel to the axis of the central core member;
a control circuit coupled to the actuation circuit and configured to selectively control the excitations in members of the plurality of longitudinal transducers causing bending of the flexible central core member; and
a sensor circuit coupled to the plurality of longitudinal transducers to detect excitations, and coupled to the control circuit to affect selective control of the excitations of the plurality of longitudinal transducers.
37. An articulated apparatus, comprising:
a central core member;
a plurality of transducers, wherein each of the plurality of transducers is movably, concentrically connected to the central core member at a first position and connected to one of a plurality of vertebra plates at a second position; and
an energy transfer mechanism associated with said transducers,
wherein said plurality of transducers are capable of moving in an integrated undulating motion.
38. The apparatus of claim 37 , wherein the central core member is flexible.
39. The apparatus of claim 37 , wherein the central core member is rigid.
40. The apparatus of claim 37 , wherein the transducers are driven by an actuation circuit to cause said undulating motion.
41. The apparatus of claim 37 , wherein the transducers are caused to move in said undulating motion by external energy stimulus.
42. The apparatus of claim 37 wherein the apparatus is used as an energy generating device.
43. The apparatus of claim 37 , wherein the apparatus is used as a propulsion device.
44. The apparatus of claim 37 , wherein the actuation circuit includes a programmable control system.
45. The apparatus of claim 37 , wherein the apparatus includes an energy generating circuit.
46. The apparatus of claim 37 , wherein the transducers are each connected to said core member by a rigid member in cooperation with an elastic member, allowing movability of the transducer about the core member.
47. The apparatus of claim 46 , wherein the elastic member includes a series of at least two elastic portions.
48. The apparatus of claim 47 , wherein the elastic member includes an elastomer bearing concentric with both a transducer and the central core.
49. The apparatus of claim 37 , further comprising a strain circuit for measuring strain on any component members.
50. The apparatus of claim 37 , wherein the energy transfer mechanism includes at least one airfoil surface on each transducer.
51. The apparatus of claim 37 , wherein the energy transfer mechanism is a continuous flexible membrane enclosing the plurality of transducers and the core member.