Articulable Joint Lining for Low-Friction Cable Routing
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Solution Overview
Problem
Existing articulable mechanisms in instruments face issues with cable degradation and friction due to repeated bending at joint structures, affecting cable life and motion quality, and complexities in fabricating joint features lead to design tolerance issues.
Innovation Solution
Incorporating a polymeric lining over joint structures and guide channels to provide optimal guide surfaces for actuation elements, reducing friction and extending cable life without compromising motion quality or increasing complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If actuation elements are routed through joint structures, then articulation control is achieved, but cable life is reduced due to repeated bending
Solution Approach 1:
A polymeric lining is introduced as an intermediary component between the actuation elements and the joint structure. This lining overlays the joint structure and guide channels, providing a smooth interior guide surface that reduces friction and bending stresses on the actuation elements, thereby extending cable life while maintaining articulation control functionality
2Reliability
If actuation elements are routed off-center through joint structures, then articulation is achieved, but friction increases leading to cable degradation
Solution Approach 1:
The physical parameters of the guide surface are changed by overlaying a polymeric lining that provides a smooth, low-friction interior surface. This lining modifies the friction characteristics between the actuation elements and the joint structure, reducing cable degradation while maintaining the off-center routing necessary for articulation
3Manufacturing precision
If joint features are fabricated with complex geometries, then motion quality is improved, but manufacturing complexity increases leading to tolerance issues
Solution Approach 1:
The polymeric lining acts as a mediator that compensates for manufacturing tolerances in the joint structure. By providing a smooth interior guide surface that overlays the joint features, the lining reduces the impact of tolerance variations on motion quality, allowing for simpler fabrication processes while maintaining performance
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 polymeric lining reduces friction and enhances cable life while maintaining the motion quality of the joint structure, addressing friction and design tolerance issues in articulable mechanisms.
Implementation Method 1
The lining provides an interior guide surface along at least part of a path of the pair of actuation elements extending through the first pair of guide channels, the second pair of guide channels, and past the joint structure
Data Source
AI summary
An articulable mechanism includes a first link, a second link, and a joint structure coupling the first and second links to each other. The joint structure is configured to enable articulation of the first and second link relative to each other. A first pair of guide channels is defined by and extends through the first link. A second pair of guide channels is defined by and extends through the second link. A lining overlays one or more of at least a portion of the joint structure, the first guide channels, or the second guide channels. A pair of actuation elements extends respectively through the first guide channels, past the joint structure, and through the second guide channels. The lining provides an interior guide surface along at least part of a path of the actuation elements extending through the first and second guide channels and past the joint structure.