Cooperative Aerial Manipulators for Dexterity and Load Handling
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Solution Overview
Problem
Existing aerial line work requires multiple workers in close proximity to high-voltage environments, necessitating heavy machinery and high-dexterity tasks, which is labor-intensive and poses safety risks.
Innovation Solution
A system comprising a robot unit with high-dexterity and high-capacity manipulators, sensors, and a control unit for cooperative robotic aerial line work, allowing remote or autonomous operation to perform tasks such as tie wire removal and heavy load handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple workers are used to perform high-dexterity and high-capacity tasks in aerial line work, then task completion capability is improved, but labor intensity and safety risks increase
Solution Approach 1:
The patent uses robotic manipulators as artificial copies of human workers to perform aerial line work. The robot unit with high-dexterity manipulators replicates human manual tasks while the high-capacity manipulator replicates heavy lifting capabilities, eliminating the need for multiple human workers in hazardous environments
Solution Approach 2:
The patent replaces the mechanical system of human workers with an automated robotic system. The high-dexterity manipulator uses electromechanical actuators to perform precise manual tasks, while the high-capacity manipulator uses hydraulic or electric actuators for heavy lifting, substituting human physical effort with automated mechanical systems
2Manufacturing precision
If high-dexterity manipulators are used for precise tasks, then task precision is improved, but load capacity deteriorates
Solution Approach 1:
The patent divides the robotic system into two separate manipulators with specialized functions: the high-dexterity manipulator handles precise tasks with multiple degrees of freedom and fine motion control, while the high-capacity manipulator handles heavy loads with robust actuators. This segmentation allows each component to be optimized for its specific function without compromise
Solution Approach 2:
The patent merges two distinct manipulator systems into a single integrated robot unit that can coordinate their actions. The control system integrates the operation of both manipulators, allowing the high-dexterity manipulator to perform precise tasks while the high-capacity manipulator provides load support when needed, combining the advantages of both designs
3Force
If high-capacity manipulators are used for heavy lifting, then load capacity is improved, but dexterity deteriorates
Solution Approach 1:
The patent segments the manipulation functions by assigning heavy lifting tasks to the high-capacity manipulator and precise dexterous tasks to the high-dexterity manipulator. The high-capacity manipulator uses robust actuators optimized for force output, while the high-dexterity manipulator uses precise actuators optimized for motion control, allowing each to excel at its designated function
Solution Approach 2:
The patent combines both manipulator types in a single robot unit with integrated control. The control system can coordinate the manipulators to work together, using the high-capacity manipulator for load-bearing operations and the high-dexterity manipulator for precise positioning and manipulation, achieving both high capacity and high dexterity in the same system
Data Source
AI summary
Systems and methods for cooperative aerial robotics for working in an aerial work environment. In some embodiments, a robot system may comprise a robot unit comprising high-dexterity manipulators for performing high-dexterity work. The robot system may further comprise a high-capacity manipulator for performing high-capacity work. The robot system may comprise a plurality of sensors for detecting the work environment and providing a representative work environment to an operator and/or a controller for operation of the robot system to complete the aerial work. The robot system may be remotely operated by an operator, automatically, and/or autonomously. The robot system may be disposed at the top of a boom of an aerial device for performing work in high-voltage areas.