Mechanisms for creating undulating motion, such as for propulsion, and for harnessing the energy of moving fluid
First Claim
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1. An articulated apparatus, comprising:
- a central core member;
a plurality of transducerswherein 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, andwherein undulations of the at least one persistent deformation correspond to excitations of the plurality of transducers.
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Abstract
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.
135 Citations
51 Claims
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1. An articulated apparatus, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. An articulated apparatus, comprising:
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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.
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37. An articulated apparatus, comprising:
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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. - View Dependent Claims (38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51)
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Specification