3D Emitter Robot Arm Spherical Trajectory Targeting
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current 3D emitting apparatuses face challenges in accurately and rapidly targeting a point, often requiring complex control systems and multiple drive members, which can lead to increased weight and reduced directivity.
Innovation Solution
A 3D emitting apparatus featuring a robot arm with a compact design that includes link members and drive members disposed on concentric spheres, allowing for relative vertical or horizontal movement of the table and emitting member along a spherical trajectory centered on the target point, reducing the number of drive members and enhancing directivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple drive members are used to control the robot arm for accurate 3D positioning, then positioning precision is improved, but device complexity and weight increase
Solution Approach 1:
The patent applies spherical geometry by positioning drive members on concentric spheres with centers at the target point. The robot arm's link members rotate along spherical trajectories, allowing precise 3D positioning through angular movements rather than linear translations. This curved path approach reduces the number of drive members needed while maintaining targeting accuracy, as each spherical layer provides independent rotational freedom toward the target.
Solution Approach 2:
The patent transitions from Cartesian coordinate control to spherical coordinate control. By defining positions through radial distance and angular coordinates on concentric spheres, the system reduces complexity in controlling 3D movement. The emitting member's position is controlled through rotations on spherical surfaces rather than independent linear movements along three axes, simplifying the control architecture while preserving positioning precision.
2Measurement precision
If multiple drive members are used to control the robot arm, then positioning accuracy is improved, but treatment time increases due to system complexity
Solution Approach 1:
The spherical trajectory approach allows the emitting member to move directly along curved paths toward the target point rather than through complex multi-axis linear movements. This reduces the number of intermediate positioning steps required, accelerating treatment delivery while maintaining accuracy through the geometric constraints of spherical motion on concentric layers centered at the target.
Solution Approach 2:
The patent implements dynamic control where the robot arm can rapidly adjust its configuration by rotating link members on different spherical layers. The system transitions between static positioning phases and dynamic movement phases, allowing fast repositioning along spherical trajectories while maintaining precise targeting when needed, thus balancing speed and accuracy.
3Measurement precision
If a complex control system with multiple drive members is used, then positioning precision is improved, but the weight of the robot arm increases
Solution Approach 1:
By using spherical trajectories on concentric spheres, the patent reduces the mechanical complexity of the robot arm. Instead of requiring multiple linear actuators for each degree of freedom, the system uses rotational movements constrained to spherical paths, which can be achieved with fewer and lighter drive members while maintaining precise positioning capability through angular control.
Solution Approach 2:
The patent extracts and eliminates unnecessary drive members from the traditional multi-axis robotic system. By leveraging the geometric properties of concentric spheres centered at the target, the system achieves 3D positioning with a reduced set of drive members, directly removing weight-contributing components while preserving targeting precision through the remaining optimized mechanism.
4Device complexity
If the robot arm configuration is simplified to reduce weight, then device complexity is reduced, but directivity toward target point deteriorates
Solution Approach 1:
The spherical geometry inherently provides excellent directivity toward the target point. By positioning the center of each spherical trajectory at the target location, every rotational movement of the link members naturally directs the emitting member toward the target. This geometric constraint ensures that even with fewer drive members, the system maintains superior directivity compared to conventional linear-axis configurations.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A three-dimensional (3D) emitting apparatus includes a table on which an object is to be disposed, a robot arm to perform a task on the object, an emitting member provided at an end portion of the robot arm, and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm may move relatively in a vertical or horizontal direction, the emitting member may move along a trajectory of rotation of the robot arm, and the trajectory of rotation may be provided in a form of a concentric sphere having a center at which a target point is disposed.