Chain Joint Cable Routing for Slim Robotic Arm Profiles
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Solution Overview
Problem
Existing robotic arm systems face challenges in cable routing, where internal routing increases the system's profile and reduces strength capacity, while external routing risks cable damage and limits motion. There is a need for a solution that prevents cable damage while maintaining the robotic mechanism's strength and range of motion.
Innovation Solution
The proposed solution involves a hub with cable routing passages that allow for internal cable routing without increasing the mechanical joint's profile, using a flexible mechanical drive system with a chain joint and linear actuators, which routes cables through the hub from the actuating arm to the moving arm, maintaining a slim profile and ensuring cables do not bend beyond their minimum radius.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If cables are routed externally along the robotic mechanism, then cable routing is simple and accessible, but the outer profile is affected and cables are at risk of damage from environmental factors
Solution Approach 1:
The cable routing passages are nested within the hub structure itself. The hub contains internal channels that guide cables from the actuating arm through the joint to the moving arm, protecting them while maintaining a compact design. This nesting approach resolves the contradiction by embedding protection within the existing structure rather than adding external routing.
2Reliability
If cables are routed internally through the robotic mechanism, then the robotic system can be sealed against liquids and gases and has a uniform profile, but the profile increases and strength capacity decreases
Solution Approach 1:
The hub is designed with localized cable routing passages that occupy only the specific volume needed for cable protection. The passages are positioned to minimize interference with the chain joint's load-bearing structures. This local quality approach allows internal routing for sealing and uniform profile while preserving the majority of the hub's strength capacity for mechanical loading.
3Shape
If the hub width is reduced to maintain a slim profile, then the robotic arm has a streamlined appearance and smaller envelope, but the chain width and strength capacity are limited
Solution Approach 1:
The cable routing passages utilize the depth dimension of the hub rather than consuming lateral width. Cables are routed through passages that extend axially through the hub, allowing the hub to maintain a narrow profile while providing adequate cable protection. This dimensional approach resolves the contradiction between slim profile and sufficient cable routing space.
4Reliability
If cables are routed through the hub, then environmental sealing is improved, but cables may bend beyond their minimum radius and suffer damage
Solution Approach 1:
The cable routing passages are designed with curved paths that maintain a radius of curvature greater than the minimum bend radius of the cables. The passages follow smooth arcs rather than sharp angles, ensuring cables can be routed internally for environmental sealing without suffering bending damage. This curvature approach resolves the contradiction between internal routing for sealing and cable protection.
Data Source
AI summary
Cable routing approaches are described that allow cables to pass through a traditional chain joint without reducing the strength capacity or impairing the range of motion of the joint. The cable routing approaches permit the cables to be housed inside the structure of the robotic arm and pass through the chain joint in a manner that does not limit the width of the chain.