Articulated Manipulator With Diagonal Joints For Expanded Work Volume
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Solution Overview
Problem
Conventional articulated manipulators have a limited work volume due to their design, which restricts the movement of the terminal part and limits their operational space, especially when trying to move the terminal part closer to the base while maintaining a specific orientation.
Innovation Solution
The articulated manipulator is designed with a specific configuration of links and joints, including coaxial and diagonal joints, where the diagonal joints connect links at a 45° inclination, allowing for a U-shaped bending of the arm assembly, thereby increasing the work volume and enabling the terminal part to be moved closer to the base without interference between adjacent links.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If coaxial joints and diagonal joints are arranged alternately to connect links, then the manipulator can achieve six degrees of freedom and the terminal part can move in a narrow space, but the work volume is small and the terminal part cannot move satisfactorily toward the base
Solution Approach 1:
The patent applies asymmetry by configuring the rotation axes of diagonal joints at specific asymmetric angles (45° or 60°) relative to link axes, rather than using symmetric alternating arrangements. This asymmetric configuration of rotation axes enables the arm assembly to bend into U-shapes and expand the terminal part's operational space toward the base, resolving the contradiction between maintaining six degrees of freedom and increasing work volume
2Volume of moving object
If the terminal part is positioned in a narrow operational space with limited movement, then the manipulator structure is compact, but the operational space is restricted and the terminal part cannot access positions near the base
Solution Approach 1:
The patent employs dimensionality change by enabling the arm assembly to bend in multiple directions through strategically positioned diagonal joints with specific rotation axis angles. This allows the manipulator to transition from linear extensions to three-dimensional U-shaped configurations, expanding the terminal part's reach in vertical and lateral dimensions while maintaining a compact longitudinal footprint
3Ease of operation
If diagonal joints connect adjacent links at inclined angles, then the links can make conical revolutions and achieve flexible positioning, but interference between adjacent links may occur during movement
Solution Approach 1:
The patent applies parameter changes by precisely defining the inclination angles of diagonal joint rotation axes (45° or 60°) relative to link axes. These specific angular parameters enable conical revolutions for flexible positioning while maintaining sufficient clearance between adjacent links during movement, thereby preventing interference. The parameter optimization balances operational flexibility with spatial clearance
Data Source
AI summary
An articulated manipulation device for increasing work volume that includes six links and corresponding joints. A first link connects to a base for rotation about a rotational axis aligned with the axis of the first link. A diagonal joint connects the first and second links, the second and third links, the third and fourth links and the fifth and sixth links. A coaxial joint connects the fourth and fifth links. The joints and links are configured to permit parallel and perpendicular axial rotation according to the specific arrangement of the links and angles of rotational inclination. The articulated manipulator has a large work volume.