Patented ARM Actuators
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ARM Actuator
Key Industries and Applications
Confidential
Patent No. 6,901,840 and 7,100,491 and
Additional Patent(s) and Application(s)
In Process
Contents:
Introduction ………………………………………………………………… 4
Industrial
Pneumatics …………………………………………………………… 5
Hydraulics ……………………………………………………………… 9
Robotics- Manufacturing and Assembly Lines ………………… 12
Medical
Robotics- Automated Surgical Procedures ……………………… 14
Low Invasive Exploratory Surgery ………………………………… 15
Prosthesis- Synthetic Touch Feedback ………………………….. 16
Military
Enhanced Performance Combat Suits …………………………… 17
Robotics- Reconnaissance ………………………………………… 18
Space
Robotics- Exploration ……………………………………………… 19
Robotics- Satellite Repair …………………………………………. 20
Rescue and Recovery
Robotics- Disaster Exploration Droids ………………………… 21
Dangerous Mission Devices ……………………………………… 22
Contents Continued:
Agricultural
Robotics- Automated Planting and Harvesting Equipment … 23
Retail
Tools and Time Saving Devices ………………………………… 24
Home and Garden ………………………………………………… 25
Toys, Games, and Entertainment ……………………………… 26
Summary …………………………………………………………………… 27
Introduction
Motors, cylinders, and actuators are found in a multitude of devices in nearly every aspect of industry and daily life. Simplistic designs have evolved into complex machines that have adapted to the limitations of these antiquated drive units. Compensations, workarounds and acceptance of the ‘state-of-the-art’ has lulled a sense of contentment and pacification that stifles progress to develop anything more than marginal improvements in this field.
The advent of ‘humanoid’ and ‘serpentine’ robotics is beginning to amplify the lag in drive device technology. Motors, cylinders and actuators are inherently too large, cumbersome, and design restrictive, to keep pace with the advancement and needs of the robotics of today. New concepts that address the challenges of these developments may hold the promise of progress to upgrade or replace outdated technology.
Addressing specific issues concerning size, weight, performance, simplicity, and limited modification modularity will provide a clear and succinct rational of the superiority of the ARM Actuator in contrast to motors, cylinders, and actuators for a number of devices, industries, and applications. This document was written to define and distinguish those issues and provide a cursory overview of the key industries and applications for the ARM Actuator.
Industrial
Pneumatics
Current pneumatic actuators offer basic linear or rotary motion. In order to achieve angular motion, which is functionally desirable for many applications, additional components and hardware are required that must be designed around the actuator. This adds complexity, components, and weight, which in turn limits usability and imposes significant design challenges.
Common linear cylinder type pneumatic actuators routinely expose the drive rod to the environment. This subjects the actuators delicate seals and drive rod or vanes to potentially harsh contaminants or environmental conditions that can cause or accelerate failure.
Traditionally, pneumatic cylinders are made of aluminum or steel with stainless steel or chrome plated steel rods or vanes to prevent corrosion and reduce wear in order to prolong functional life. Size and weight characteristics of the cylinders creates design challenges, and inflated direct and indirect costs.
Operating characteristics of pneumatic actuators own up to a number of undesirable characteristics such as ‘stiction’ which are less than smooth start and stop anomalies, ‘linear deviation’ or the need to compensate for the rods ‘sag’ the further out the rod travels from the cylinder, ‘overshoot’ or the inpropensity to start or stop at desired or controlled positions sometimes causing the piston to bottom out or slam against the housing, and ‘torsion’ or rotational deviation of the rod or tool mounted to the rod end.
The newest commercial offering in pneumatic actuators is the ‘air muscle’. This device attempts to fills some needs to provide a ‘closed’ system with fewer components and reduced weight, however; the design complexity has remained. To the credit of some pioneering companies, the introduction of the ‘air muscle’ has opened the minds of engineers that there are alternatives to traditional linear cylinders and rotary actuators.
Work cells that use pneumatic actuators are specifically designed for a particular automated task. When the task changes the work cell may be rendered obsolete and a complete redesign may be needed.
Pneumatic actuators are used is a vast array of singular tasks as well such as pushing, clamping, and positioning of parts or tools. Complex designs utilizing a plurality of pneumatic actuators can be found throughout the manufacturing, medical, and robotic fields.
ARM Actuators provide a number of advantages over the existing pneumatic actuator technology-
Simplicity of design. The ARM Actuator has very few moving parts to achieve angular motion. Fewer parts equates to lower cost of manufacturing of the ARM Actuator in contrast to pneumatic actuators. Fewer parts also means fewer potential fail points which equates to lower cost of ownership due to repair and maintenance.
Simplicity of implementation. The ARM Actuator functions both as the drive mechanism and the pre-engineered module that produces angular motion right off the shelf. The final design implementation for practical use allows significantly fewer components and design consideration to achieve equal or greater functionality over current pneumatic actuators.
Closed System. The ARM Actuator utilizes a closed system to achieve angular motion, there is no risk of contamination or depredated use in harsh environments. The ARM Actuator can be readily made from, coated, or sealed, with application specific materials and components that address specific applications or environments.
Reduced weight, of both the ARM Actuator and the final design. Due to a smaller and reduced number of components that can be made of alternative materials such as plastic. Power to weight performance are superior to all existing actuators including the ‘air muscle’. This advantage is amplified when the application calls for angular motion.
Reduced weight of the design provides further advantages when coupling multiple actuators. Each subsequent module adds additional weight that the previous module must compensate for. Reducing the weight of each module reduces the compensation factor and thus reduces overall weight. This allows for greater functionality in a smaller package. With assembly line real estate at a premium, performing the same task in a smaller area can be a substantial benefit.
The design of the ARM Actuator eliminates the problematic operating characteristics of pneumatic actuators including ‘stiction’, ‘linear deviation’, ‘overshoot’, and ‘torsion’.
Tactile feedback, measuring angular position and air pressure while performing calculations on their relationship can provide real time tactile feedback and dynamic response. This can allow for advances in applications that require simulated ‘touch’ response such as robotics and prosthetics.
Single ARM Actuators can be used to perform a host of useful functions such as lifting clamping, moving and positioning. When combined, highly articulated robotics can be made to serve any number of tasks.
Advanced functionality. Utilizing ARM Actuators to perform locomotion in ‘bi-pedal humanoid’ robots, ‘bug-like’ walking, or ‘serpentine’ movement can solve current pneumatic deficiencies. Entirely new forms of existing devices may be designed around Arm Actuators such as construction and earth moving equipment, exploration and dangerous area devices and human-like walking droids that are not bound to the constraints of current pneumatic actuators.
New potential. Arm Actuators can be made very small. Fully functional controlled angular motion on a small scale may solve or create entirely new fields that have never been considered due to the constraints of existing technology. Particularly apparent opportunities in the medical and repair fields are immediately obvious, however; the adoption and maturity of ARM Actuator technology may allow pneumatics to achieve and advance many additional fronts in science and technology.
Hydraulics
Hydraulic actuators share many similarities with pneumatic actuators, therefore; much of the following information closely resembles the afore mentioned pneumatic characteristics and ARM Actuator advantages-
Current hydraulic actuators offer basic linear or rotary motion. In order to achieve angular motion, which is functionally desirable for many applications, additional components and hardware are required that must be designed around the actuator. This adds complexity, components, and weight which in turn limits usability and imposes significant design challenges
Common linear cylinder type hydraulic actuators routinely expose the drive rod or vanes to the environment. This subjects the actuators seals to potentially harsh contaminants or environmental conditions that can cause or accelerate failure.
Traditionally, hydraulic cylinders are made of steel with stainless steel rods or vanes to prevent corrosion and reduce wear in order to prolong functional life. Size and weight characteristics of the cylinders creates design challenges, and inflated direct and indirect costs.
Many hydraulic actuators are specifically designed for a particular device such as the lift mechanism of a bucket or plow on a dozer. These as well as many other industrial devices have evolved quite well to utilize hydraulic cylinders.
ARM Actuators provide a number of advantages over the existing hydraulic actuator technology-
Simplicity of design. The ARM Actuator has very few moving parts to achieve angular motion. Fewer parts equates to lower cost of manufacturing of the ARM Actuator in contrast to hydraulic actuators. Fewer parts also means fewer potential fail points which equates to lower cost of ownership due to repair and maintenance.
Simplicity of implementation. The ARM Actuator functions both as the drive mechanism and the pre-engineered module that produces angular motion right off the shelf. The final design implementation for practical use allows significantly fewer components and design consideration to achieve equal or greater functionality over current hydraulic actuators.
Closed System. Since the ARM Actuator utilizes a closed system to achieve angular motion, there is no risk of contamination or depredated use in harsh environments. The ARM Actuator can be readily made from, coated, or sealed, with application specific materials and components that address specific applications or environments.
Reduced weight, of both the ARM Actuator and the final design. Due to a smaller and reduced number of components that can be made of alternative materials such as plastic. Power to weight performance are superior to all existing actuators. This advantage is amplified when the application calls for angular motion.
Reduced weight of the design provides further advantages when coupling multiple actuators. Each subsequent module adds additional weight that the previous module must compensate for. Reducing the weight of each module reduces the compensation factor and thus reduces overall weight. This allows for greater functionality in a smaller package. With the excessive weight of existing hydraulic actuators and the devices that use them, performing the same task with lighter weight device can be a substantial benefit.
Tactile feedback, measuring angular position and fluid pressure while performing calculations on their relationship can provide real time tactile feedback and dynamic response. This can allow for advances in applications that require simulated ‘touch’ response such as robotics and prosthetics.
Single ARM Actuators can be used to perform a host of useful functions such as lifting clamping, moving and positioning. When combined, highly articulated robotics can be made to serve any number of tasks.
Advanced functionality. Utilizing ARM Actuators to perform locomotion in ‘bi-pedal humanoid’ robots, ‘bug-like’ walking, or ‘serpentine’ movement can solve current hydraulic deficiencies. Entirely new forms of existing devices may be designed around Arm Actuators such as construction and earth moving equipment, exploration and dangerous area devices and human-like walking droids that are not bound to the constraints of current hydraulic actuators.
New potential. Arm Actuators can be made very small. Fully functional controlled angular motion on a small scale may solve or create entirely new fields that have never been considered due to the constraints of existing technology. Particularly apparent opportunities in the medical and repair fields are immediately obvious, however; the adoption and maturity of ARM Actuator technology may allow hydraulics to achieve and advance many additional fronts in science and technology.
Robotics- Manufacturing and Assembly Lines
The robotics industry utilizes pneumatics, hydraulics, and motors to create versatile robotic devices that can be programmed to perform multiple tasks without the need to redesign the work cell. The versatility comes at a price due to the following factors- weight, size, and complexity. As previously stated in the pneumatics and hydraulics sections, ARM Actuators provide reduced weight, size, and complexity yet can provide equal or greater performance. These factors can allow more affordable devices, which require less space and can perform many more manual labor tasks.
ARM Actuators will allow fully functional robotic devices to be manufactured at considerably lower costs. This will drastically reduce entry level pricing for robotic devices which can open entirely new opportunities to utilize this technology. Simplicity of design and reduced number of components lend themselves to advantages in performance, reduce mean time between failures, and simplify repair. These factors can reduce down time and increase savings over current devices.
Robotic devices based on ARM Actuators can perform crude repetitive tasks, or extremely precise one time operations. The utilization of ARM Actuator technology in production devices will cover a broad spectrum of functionality. From high precision movement and exact angular control to basic two position devices.
Large ‘industrial’ ARM Actuators can perform movement and positioning in automotive and heavy equipment manufacturing. Small ‘helper’ devices can work in a lab to perform a mundane task such as adding a drop of solution to an array of test tubes at precise intervals or dispense adhesive in a predetermined pattern on parts as they travel down an assembly line. ‘Machine’ devices can ‘process’ parts from one area to another in a point to point fashion where only the start and end positions are defined, but the movement in between is not critical
Control of the ARM Actuators can be very sophisticated and require a dedicated PC or control unit, or it can be as simplistic as manual control through levers and foot pedals depending on the application.
Small armies of low cost articulate ARM Actuator robotic arms can be implemented in assembly lines to perform manual labor that is currently being lost to other countries. Cost being the sensitive factor, these devices have the potential to preserve companies manufacturing plants here in the US while providing the necessary competitive cost of production that can compete in the global market.
Medical
Robotics- Automated Surgical Procedures
Repetitive or precision tasks can be more accurately and reliably performed by a robotic device. As covered in the pneumatic and hydraulic sections, ARM Actuators provide a number of advantages over existing medical robotics that use these control means. Additional benefits are obvious when compared to devices that use motors and electronics as their controls.
Reduced size can allow tasks in tighter spaces such as dental and medical procedures. No vibration or heat is generated when using ARM Actuators which can cause issues with sensitive tissues or organs. The air or fluid used in the ARM Actuator can even be temperature regulated to hot, cold, or precise temperatures which may provide additional advantages.
As robotic assisted medical procedures become common practice, ARM Actuators will find fit and function due to the obvious advantages over the existing actuator means.
Low Evasive Exploratory Surgery
Just as with automated surgical procedures, the advantages of reduced size, no vibration, or heat generation and temperature control all contribute to the list of advantages in exploratory surgery. The fact that an ARM Actuator device can be made to be small, for example the size of a single strand of spaghetti, yet be capable of precise control can allow complex movement in and around the body or even in organs or areas of the body that may allow new procedures or examinations that could advance medical technology.
Current endoscopic devices are only marginally articulate and usually the articulation is only at the end of the device. ARM Actuators provide the ability to controllably bend and curve throughout the entire length of the device which can allow the device to locomote and maneuver inside the body in ways that can significantly improve the state-of-the art and open new doors to advanced medical procedures.
Prosthesis- Synthetic Touch Feedback
ARM Actuators can be utilized in prosthetic devices with advantages in size, appearance and performance. The fact that the drive mechanism of the actuator is on the interior of the joint allows a more lifelike design of the device. The power to weight performance can allow a prosthetic to be made to look and act much like the limb it is replacing. Since there are no motors or need for large battery power sources, the pressure can be stored onboard or generated from a chemical reaction which can potentially be more convenient and lighter to carry than a battery.
Position sensors and pressure sensors can be use together to generate feedback that can act as a simulated ‘touch’. The resistance to the pressure and the actual position can aid the user in ‘feeling’ how much force is being applied when squeezing or pushing.
Military
Enhanced Performance Combat Suits
The ARM Actuator can be designed into an exoskeleton device that the user ‘wears’. The device can be designed to provide ‘super-human’ powers by reproducing human-like functions on a larger more powerful scale. The use of air power can potentially be safer than batteries, and possibly lighter weight for the same amount of functionality.
Designs may incorporate storage tanks, onboard pressure generator devices, or perhaps controlled chemical reactions to produce the operating pressure. Commercial implementation of these military devices may lend themselves to construction, excavation and warehousing devices.
Robotics- Reconnaissance and Exploration
The use of low cost robotic devices can provide an army of ‘seek and destroy’, units, spy robots, or surveillance devices. ARM Actuators can replace the current technology used in ‘serpentine robots’ that is being experimented with for these purposes. By replacing motors, gears, batteries, and the complexity that ‘serpentine robots’ currently utilize, weight, size, and cost can all be reduced.
Space
Robotics- Exploration
As with military robotics, there are obvious similarities of use and advantages. The use of low cost robotic devices can provide an army of exploratory devices, or significantly lower cost alternatives to devices like ‘Mars Rovers’.
ARM Actuators can replace the current technology used in ‘serpentine robots’ that are being experimented with for space exploration purposes. By replacing motors, gears, batteries, and the complexity that ‘serpentine robots’ currently utilize, weight, size, and cost can all be reduced. Further advantages to using a serpentine robot to explore distant planets and moons would be the elimination of the deployment ramp and precision landing process. Since a serpentine robot can be coiled up in the space module and be deployed from any orientation that the module lands by simply ‘crawling’ out of the most accessible of several deployment holes and proceed to right itself on the surface once it exits the space module.
In space a little pressure can go a long way to control the ARM Actuators. Therefore batteries can be replaced by a pressure tank, or a simple chemical reaction that can produce pressure. A small amount of the chemicals can be placed onboard the serpentine robot and a regulated slow release device can provide functionality for days or perhaps even weeks. The serpentine robot can doc with its space module to refill as needed, or even actively collect and process the necessary chemicals from the martin surface or atmosphere.
Robotics- Satellite Repair
As with exploratory robotics, there are obvious similarities of use and advantages. The use of low cost robotic devices can provide a multitude of repair devices, or significantly lower cost and lower risk alternatives to space walks.
ARM Actuators can replace the current technology used in ‘serpentine robots’ that are being experimented with for space repair purposes. By replacing motors, gears, batteries, and the complexity that ‘serpentine robots’ currently utilize, weight, size, and cost can all be reduced.
Further advantages to using a serpentine robot to repair orbiting satellites would be the time savings of immediate action. With the presence of dormant serpentine robots onboard, they can be ready for service in real time which mean immediate action to service potential issues this may result in lowering down time and increasing productivity.
Rescue and Recovery
Robotics- Disaster Exploration Droids
The use of low cost robotic devices can provide disaster exploration droids that can save and protect lives.
Deployment of these devices into a disaster area to locate survivors or map out the destruction so as to strategically unpile rubble in an effort to save survivors can be of unequalled value and service.
Natural disasters, mining accidents, and terrorism each pose adverse situations that can benefit from ARM Actuators.
Dangerous Mission Devices
As with disaster recovery areas that present immediate threat to humans such as chemical, radioactive, or extreme temperatures or pressures can be ideal opportunities for ARM Actuators. Highly articulated functionality in an explosive environment is currently being developed and utilized. The use of ARM Actuators can accelerate these devices ability and function.
Use of pneumatics instead of motors in volatile and explosive situations is a necessity. Achieving a high degree of functionality from such a non-electrical device has immediate potential to replace the current devices.
Agricultural
Robotics- Automated Planting and Harvesting Equipment
Industrial automation can apply to more than just the factory. Implementing ARM Actuators in devices to plant and harvest crops may open new doors to how, when and with what efficiency crops can be managed. Ability to intelligently spray, or eradicate specific fruits or vegetables could control disease.
Controlled intelligent picking of crops could maximize usable yield, reduce waste and improve consumer quality.
Retail
Tools and Time Saving Devices
Remote observation or routing can be accomplished with the use of ARM Actuators.
Viewing locations that are not easily accessible or require significant disassembly time may benefit from the use of ARM Actuators.
Running cables and wires in walls has long been a frustrating and crude task with existing fish tapes. Utilizing ARM Actuators can provide a simple solution to a complex problem.
Home and Garden
Vehicle jacks, power take off devices for garden tractors, and exercise equipment can all benefit from ARM Actuators.
A simple low cost option for automobiles could be a built in dash activated set of jacks installed on the undercarriage of new cars. With a push of a button the car can be lifted for repair, tire changes, or even immobilization purposes.
Garden tractors have long used PTO devices to garden, plow, and move materials. The benefits of ARM Actuators could improve cost and performance of these devices.
Exercise devices similar to the “bow flexing” could be made in a way that provides advanced non-linear resistance that maximizes various workouts. Utilizing a set of large ARM Actuators, a pressurizing device and a digital controller, various workouts can be performed without the need to manually change the device. All of the resistance changes can be done automatically from the controller or with the touch of a button.
Toys, Games, Entertainment, and Education
Utilizing the ARM Actuator in an idealistic application such as an educational lab for teaching pneumatics or mechanical design such as with lego type blocks or an erector type set can be of great value and market reception. The popularity of such educational toys has enchanted kids and adults alike and has developed people, ideas, and new products.
Animatronic dolls and toys have always been a quest for toy makers. Simple adaptations of ARM Actuators can provide low cost highly functional dolls and toys.
The motion picture industry can gain significant advances from the use of ARM Actuators. From simple movement to complex animatronic creatures and dummies, this industry has a history of use for these devices.
Additional games and entertainment devices can be made based on ARM Actuators.
Summary
Technology is typically advanced in small incremental steps that are built upon pushing today’s limits slightly higher through improved materials, designs, or discoveries. Advancements in one field may apply to additional closely related or even drastically unrelated fields. To the outsider these advancements may progress nearly undetected in daily life but a step back may reveal the significantly distinguishable progress over the years.
With rare but roughly definable frequency a completely new discovery is made that crosses a multitude of fields, devices, and applications. These ideas and concepts are typically obscure or radical to the existing technology but yet can be identified by the conjure of phrases that they invoke- “That’s too simple, somebody must have already thought it” and “Why didn’t I think of that?”.
The ARM Actuator is such a device.
With the simplest of principals that have been obvious to anyone that has ever blown up a long narrow balloon, yet with the slightest component additions to harness the useful motion of this controllable action.
Looking at everyday surroundings with a quest for solutions has brought the ARM Actuator to light. Simplicity, ability, and versatility of this device can improve and advance a broad spectrum of industries, devices and products of today, and well into the future.