Articulated Arm Robot Base Drive Extraction for Payload Capacity
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Solution Overview
Problem
Articulated arm robots face limitations in load carrying capacity and positioning accuracy due to the weight of drives and power transmission systems, as well as cumulative tolerances along the kinematic chain, restricting their maximum payload and operating range.
Innovation Solution
The design incorporates a compact, rigid triangular coupling structure with motor-driven spindle nuts and universal joints, allowing for increased motion travel and reduced motor drive loads, along with a modular architecture that includes identical linear actuators and a live ring base for enhanced torque transmission and reduced costs, enabling the robot to handle heavier payloads and expand its operating range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If drives and power transmission systems are mounted on arm elements to enable articulated motion, then the robot achieves mobility and flexibility, but the weight of these components reduces the load carrying capacity
Solution Approach 1:
The invention extracts the drive systems from the moving arm elements and relocates them to the stationary base. The linear actuators mounted on the base drive the arm elements through coupling structures, eliminating the need for motors and power transmission systems on each arm element. This extraction of heavy components from moving parts directly reduces the weight that must be carried along the kinematic chain, thereby increasing load carrying capacity while maintaining mobility through the linear actuator coupling mechanism.
2Adaptability or versatility
If multiple arm elements are serially connected to achieve complex positioning, then the robot gains six degrees of freedom and versatility, but cumulative tolerances reduce positioning accuracy
Solution Approach 1:
The invention segments the drive system into independent linear actuators mounted on the base, each controlling a specific degree of freedom through coupling structures. This segmentation allows each actuator to be precisely controlled and measured independently, reducing the cumulative effect of tolerances that would occur with traditional distributed drives. The modular coupling structures also enable precise transmission of motion from each actuator to the corresponding arm element.
3Length of moving object
If traditional hydraulic or elaborate actuator constructions are used to increase operating range, then the robot achieves greater motion travel, but the complexity and weight of the actuator system increases
Solution Approach 1:
The invention introduces coupling structures as intermediary elements between the linear actuators and the arm elements. These coupling structures translate the linear motion from the actuators into the required rotational or articulated motion of the arm elements, enabling extended operating range without requiring complex hydraulic systems or elaborate actuator constructions. The coupling structures act as mechanical intermediaries that simplify the overall system while achieving the desired motion capabilities.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution significantly enhances the robot's payload capacity and operating range, allowing it to handle payloads up to three times heavier than current systems with nearly doubled range in all six degrees of freedom, while maintaining high positioning accuracy and reducing energy consumption.
Implementation Method 1
Linear actuators, which each are a spindle drive, are respectively provided for pivoting both the first and second arm elements and comprises a motor-driven spindle nut that is engaged with a spindle
Data Source
AI summary
The invention relates to an articulated arm robot for handling a payload, comprising a robot arm (R), which is attached to a base (1) that can be rotated about a first axis (A1), and at least two arm elements (2 and 3), which are arranged to form a kinematic chain and a first arm element (2) is mounted on the base (1) to pivot about a second axis (A2) that is oriented orthogonally relative to the first axis and a second arm element (3) which is attached to the first arm to be pivotal manner about a third axis (A3) that is oriented parallel to the second axis (A2).