Pinched tubes for reconfigurable robots

US12017347B2 · kind B2 · utility

Assignees

• ARIZONA BOARD OF REGENTS FOR AND ON BEHALF OF ARIZONA STATE UNIVERSITY · US
• The Regents of the University of California · US

Inventors

• Daniel Aukes · Redwood City, US
• Mohammad Sharifzadeh · Phoenix, US
• Yuhao Jiang · Tempe, US
• Nicholas Gravish · San Diego, US
• Mingsong Jiang · Yulin, CN

Key dates

• Filing date: Oct 21, 2022
• Grant date: Jun 25, 2024
• Expiry date: Oct 21, 2042

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J17/0241
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A device includes a tube and a sleeve configured to at least partially encircle a portion the tube along its length. The tube is flexible and airtight and defines a longitudinal axis along a center of the tube, and is configured to bend along the longitudinal axis upon at least partial evacuation of the tube to form a joint. The joint defines a joint angle relative to the longitudinal axis, thereby approximating a revolute joint with torsional stiffness. Actuating a joint includes partially evacuating a flexible tube defining a longitudinal axis, thereby forming a bend in the tube at an angle with respect to the longitudinal axis at a perimeter of a rigid sleeve at least partially encircling the tube, and restoring a neutral pressure to the tube, thereby removing the bend in the tube.