Mechanical implement utilizing active material actuation
View Patent ↗A mechanical implement adapted for use in an autonomously functioning device, such as a robot arm, and including an active material, such as shape memory polymer, element that when activated and/or deactivated is operable to modify the mechanical impedance of a joint or link in the device.
1. A mechanical implement adapted for use with an autonomously moveable or reconfigurable mechanical device, presenting a variable mechanical impedance, and including at least one structural link and/or reconfigurable joint, said implement comprising:
at least one variable impedance member composing the link and/or joint, and including at least one active material element operable to undergo a reversible change when subjected to or removed from an activation signal, so as to be activated and deactivated respectively,
wherein said at least one variable impedance member defines total low and high variable stiffnesses, when activated and deactivated respectively, and the change is operable to vary the impedance; and
at least one controller communicatively coupled to said at least one variable impedance member, and operable to selectively cause the element to become exposed to or removed from the signal.
2. The implement in claim 1 , wherein the change occurs over a small difference in the value of the controlling stimulus, so as to effect generally binary functional stiffnesses.
3. The implement in claim 1 , wherein the change occurs over a larger difference in the value of the controlling stimulus, so as to effect a plurality of functional stiffness.
4. The implement in claim 1 , wherein said at least one stiffness member presents an initial geometry, the change is operable to modify the stiffness, so as to result in a second stiffness, modification to the second stiffness enables the stiffness member to take on a second geometry, and reversal of the change causes the element to be locked in the second geometry.
5. The implement in claim 1 , wherein the change causes the implement to alternatively present a link or joint.
6. The implement in claim 1 , wherein the device presents a robot arm, mechanism, toy, or rehabilitation aid.
7. The implement in claim 1 , wherein the device is pre-existing and includes at least one low stiffness joint presenting the stiffness, and the implement presents a sleeve operable to overlay and retrofit the joint.
8. The implement in claim 1 , wherein the member and controller are cooperatively configured to vary the modification in stiffness by varying the signal, activating differing subsets of a plurality of identical active material elements, or activating differing subsets of a plurality of differing active material elements.
9. The implement in claim 1 , wherein the device further includes a low stiffness active material actuator selected from the group consisting essentially of cables, pre-strained shape memory alloy wires, or electro-active polymer actuators embedded or running through dedicated channels in the implement.
10. The implement in claim 1 , wherein the device is actuated by a control signal, and the control and activation signals are distinct.
11. The implement in claim 10 , further comprising:
a sensor communicatively coupled to the controller and operable to detect a collision, state of the environment of the implement or other condition relevant to the operation of the implement,
said controller being programmably configured to cause the change, when the collision, state of the environment or condition is detected or inferred or anticipated via a control logic programmed into the controller.
12. The implement in claim 1 , wherein the element comprises an active material selected from the group consisting essentially of shape memory polymers, shape memory alloys, ferromagnetic shape memory alloys, magnetorheological elastomers, and electrorheological elastomers.
13. The implement in claim 12 , wherein the element is formed of shape memory polymer and the member is configured such that the implement presents a damping and/or locking mechanism within the device.
14. The implement in claim 12 , wherein the member includes a laminate formed from first and second shape memory polymer elements presenting differing transition temperatures.
15. The implement in claim 1 , further comprising:
at least one fixed impedance member mechanically parallel with said at least one variable impedance member, wherein the fixed impedance member presents a total fixed stiffness.
16. The implement in claim 15 , wherein said at least one fixed impedance member presents a flexure comprising spring steel or hard polymer.
17. The implement in claim 15 , wherein the total low variable stiffness is considerably less than and the total high variable stiffness is considerably greater than the total fixed stiffness.
18. The implement in claim 15 , wherein each of said at least one variable impedance member presents an elongated geometric shape, said at least one fixed impedance member presents a spine having a flexure span length, and the spine and variable members are inter-engaged and angularly oriented relative to each other, such that the spine and the stiffness and/or position of the variable members are cooperatively configured to modify the span based on the change.
19. The implement in claim 18 , wherein at least one variable impedance member composes a casing, the casing further includes fixed stiffness end caps distally engaging, so as to confine, said at least one variable member and a fixed stiffness element, and at least one set of casings is configured to oppositely engage the spine.
20. A robotic arm presenting an engagement point and mechanical impedance:
wherein the arm
is drivenly coupled to an actuator operable to cause the point to translate to a location within a precise geometric tolerance, and
includes an active material operable to undergo a change in fundamental property when exposed to or removed from an activation signal, so as to present activated and deactivated states respectively,
wherein the mechanical impedance presents a first value and the geometric tolerance presents a first range when the material is caused to achieve one of said activated and deactivated states and a second value less than the first value and a second range greater than the first range when caused to achieve the other of said activated and deactivated states.