Fluidic solar array actuation system

Abstract

A fluidic solar actuation array, the fluidic solar actuation array comprising a plurality of separate actuator nodes disposed in a node line. The node line comprises a set of two or more actuator nodes and a pressure supply line that fluidically couples the set of two or more actuator nodes, with each of the two or more actuator nodes comprising a fluidic solar actuator that includes at least a first fluidic inflatable actuator.

What is claimed is: 
     
         1 . A fluidic solar actuation array, the fluidic solar actuation array comprising:
 a plurality of separate actuator nodes disposed in a plurality of parallel node lines, with each node line of the plurality of parallel node lines comprising a different set of two or more actuator nodes of the plurality of separate actuator nodes and with each node line of the plurality of parallel node lines comprising one or more pressure supply lines that fluidically couples a respective set of two or more actuator nodes of the plurality of separate actuator nodes in series, wherein each separate actuator node comprises a fluidic solar actuator that includes:
 a top coupler; 
 an angled bottom coupler having a top-end and respective first and second planar faces on opposing first and second sides of the top-end, the angled bottom coupler coupled to the top coupler via a linear one-degree-of-freedom rotatable joint between the top coupler and the angled bottom coupler, the linear one-degree-of-freedom rotatable joint having no more than one axis of rotation; and 
 at least a first and second fluidic inflatable actuator, with the first fluidic inflatable actuator disposed on the first side of the angled bottom coupler engaging the first planar face and the second fluidic inflatable actuator disposed antagonistically from the first fluidic inflatable actuator on the second side of the angled bottom coupler engaging the second planar face; 
 wherein each node line of the plurality of parallel node lines comprises a respective first pressure supply line configured to covey a fluid originating from a shared fluid source to each of the first fluidic inflatable actuators of the respective node line to fluidically couple the respective set of two or more actuator nodes of the plurality of separate actuator nodes in series along the respective node line and ganged so as to be fluidically connected; and 
   a central electronic control system that controls a plurality of valves of a valve system, the valve system controlling conveyance of the fluid originating from the shared fluid source to each of the fluidic solar actuators of the separate actuator nodes, the central electronic control system controlling conveyance of the fluid to cause each of the fluidic solar actuators to be positioned based at least in part a position of the sun by selectively introducing fluid from the shared fluid source into at least the first fluidic inflatable actuators of the fluidic solar actuators via the one or more pressure supply lines of the respective node lines of the plurality of parallel node lines.   
     
     
         2 . The fluidic solar actuation array of  claim 1 , further comprising a plurality of photovoltaic panels disposed on the fluidic solar actuators, and wherein causing each of the fluidic solar actuators to be positioned based at least in part the position of the sun causes the plurality of photovoltaic panels to be positioned based at least in part the position of the sun. 
     
     
         3 . The fluidic solar actuation array of  claim 1 , wherein the first fluidic inflatable actuators of a respective node line are ganged so as to be fluidically connected such that the first fluidic inflatable actuators of a respective node line of the plurality of parallel node lines are configured to be inflated together such that that fluidic solar actuators are actuated together in unison. 
     
     
         4 . The fluidic solar actuation array of  claim 1 , wherein the angled bottom coupler is V-shaped. 
     
     
         5 . A fluidic solar actuation array, the fluidic solar actuation array comprising:
 a plurality of separate actuator nodes disposed in a plurality of parallel node lines, with each node line of the plurality of parallel node lines comprising a different set of two or more actuator nodes of the plurality of separate actuator nodes and with each node line of the plurality of parallel node lines comprising one or more pressure supply lines that fluidically couples a respective set of two or more actuator nodes of the plurality of separate actuator nodes in series, wherein each separate actuator node comprises a fluidic solar actuator that includes:
 at least a first fluidic inflatable actuator; 
 wherein each node line of the plurality of parallel node lines comprises a respective first pressure supply line configured to covey a fluid originating from a shared fluid source to each of the first fluidic inflatable actuators of the respective node line to fluidically couple the respective set of two or more actuator nodes of the plurality of separate actuator nodes in series along the respective node line and ganged so as to be fluidically connected. 
   
     
     
         6 . The fluidic solar actuation array of  claim 5 , wherein each fluidic solar actuator that includes:
 a top coupler, and   an angled bottom coupler having a top-end and respective first and second planar faces on opposing first and second sides of the top-end, the angled bottom coupler coupled to the top coupler via a linear one-degree-of-freedom rotatable joint between the top coupler and the angled bottom coupler, the linear one-degree-of-freedom rotatable joint having no more than one axis of rotation.   
     
     
         7 . The fluidic solar actuation array of  claim 5 , wherein each fluidic solar actuator includes at least the first fluidic inflatable actuator and a second fluidic inflatable actuator, with the first fluidic inflatable actuator disposed antagonistically to the second fluidic inflatable actuator. 
     
     
         8 . The fluidic solar actuation array of  claim 5 , further comprising:
 a central electronic control system that controls a plurality of valves of a valve system, the valve system controlling conveyance of the fluid originating from the shared fluid source to each of the fluidic solar actuators of the separate actuator nodes, the central electronic control system controlling conveyance of the fluid to cause each of the fluidic solar actuators to be positioned based at least in part a position of the sun by selectively introducing fluid from the shared fluid source into at least the first fluidic inflatable actuators of the fluidic solar actuators via the one or more pressure supply lines of the respective node lines of the plurality of parallel node lines.   
     
     
         9 . A fluidic solar actuation array, the fluidic solar actuation array comprising:
 a plurality of separate actuator nodes disposed in a node line, with the node line comprising:
 a set of two or more actuator nodes, and 
 a pressure supply line that fluidically couples the set of two or more actuator nodes, with each of the two or more actuator nodes comprising:
 a fluidic solar actuator that includes at least a first fluidic inflatable actuator. 
 
   
     
     
         10 . The fluidic solar actuation array of  claim 9 , wherein the fluidic solar actuation array comprises a plurality of separate node lines, with each respective node line of the plurality of separate node lines having a different set of two or more actuator nodes. 
     
     
         11 . The fluidic solar actuation array of  claim 9 , wherein the fluidic solar actuation array comprises a plurality of separate node lines disposed in parallel. 
     
     
         12 . The fluidic solar actuation array of  claim 9 , wherein the set of two or more actuator nodes are fluidically connected in series via the pressure supply line. 
     
     
         13 . The fluidic solar actuation array of  claim 9 , wherein the pressure supply line is configured to covey a fluid originating from a shared fluid source to each of the first fluidic inflatable actuators of the respective node line. 
     
     
         14 . The fluidic solar actuation array of  claim 9 , wherein the pressure supply line fluidically couples the set of two or more actuator nodes along the node line and such that the set of two or more actuator nodes are ganged so as to be fluidically connected. 
     
     
         15 . The fluidic solar actuation array of  claim 9 , wherein the fluidic solar actuator comprises:
 a top coupler, and   a bottom coupler that is rotatably coupled to the top coupler.   
     
     
         16 . The fluidic solar actuation array of  claim 15 , wherein the bottom coupler is angled having a top-end and respective first and second faces on opposing first and second sides of the top-end. 
     
     
         17 . The fluidic solar actuation array of  claim 15 , wherein the bottom coupler is coupled to the top coupler via a linear one-degree-of-freedom rotatable joint between the top coupler and the bottom coupler, the linear one-degree-of-freedom rotatable joint having no more than one axis of rotation. 
     
     
         18 . The fluidic solar actuation array of  claim 9 , wherein each fluidic solar actuator includes at least the first fluidic inflatable actuator and a second fluidic inflatable actuator. 
     
     
         19 . The fluidic solar actuation array of  claim 9 , further comprising an electronic control system that controls fluid flow to the first fluidic inflatable actuators via the pressure supply line. 
     
     
         20 . The fluidic solar actuation array of  claim 9 , further comprising an electronic control system configured to cause the fluidic solar actuators of the two or more actuator nodes to be actuated in unison.