Miniature walking robot with soft joints and links
US11358663B2 · kind B2 · utility
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23Claims
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Key dates
| Filing date | Aug 2, 2019 |
| Grant date | Jun 14, 2022 |
| Priority date | — |
| Expiry date | Nov 26, 2039 |
Classification
- Technology area (CPC F)Mechanical Engineering; Lighting; Heating
- CPC primaryF16H1/00
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Disclosed is multimaterial 3D printing (MM3P) to fabricate centimeter-scale robots by utilizing soft materials to create soft joints to replace revolute joints and also soft links to replace rigid links. A three-spring rotational-prismatic rotational (RPR) model is developed to approximate the motion of soft joints or links, which is further utilized to numerically predict the motion of the leg mechanism with multiple soft joints and links. The accuracy of the proposed numerical method is validated with experimental results. A functional walking robot actuated by a single DC motor is demonstrated.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.