Collapsible Cartesian Robot with Nested Axes and Movable Outriggers
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Solution Overview
Problem
Existing Cartesian robots occupy a large space relative to their active working envelope, making them non-portable and unable to cover large work areas effectively.
Innovation Solution
The design of a Cartesian robot that can be folded into a compact state, with a ratio of work envelope to folded envelope greater than 50:1, utilizing a combination of linear and rotary actuators that can be moved to optimize the robot's rigidity and space efficiency, allowing for portability and larger work coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If Cartesian robots are designed with a large working envelope, then they can cover larger work areas, but the space envelope occupied by the robot becomes very large, making it non-portable
Solution Approach 1:
The robot structure is divided into modular linear slide mechanisms (X, Y, Z axes) that can be independently folded. Each axis consists of separate components that can be collapsed onto one another, allowing the overall structure to be segmented and reconfigured from an extended working state to a compact stored state, thereby reducing the space envelope while maintaining working envelope capability
Solution Approach 2:
The linear slide mechanisms are designed to nest within each other when folded. The moving components of each axis can be retracted and positioned inside or alongside the stationary components, creating a nested configuration that minimizes the external dimensions of the robot when not in operation, thus achieving a high ratio of working envelope to folded envelope
2Volume of stationary object
If Cartesian robots are made portable and foldable, then space occupancy is reduced, but the rigidity and structural stability may be compromised
Solution Approach 1:
The robot incorporates movable outriggers that can dynamically adjust their position and extension based on operational requirements. These outriggers can be deployed to provide additional support and stability when the robot is in its extended working configuration, and retracted when the robot is folded, allowing the structure to adapt its rigidity characteristics to match its operational state
Solution Approach 2:
The outriggers serve as intermediary support elements that mediate between the foldable robot structure and the external environment. When deployed, they provide external stabilization that compensates for the inherent flexibility of the folded design, allowing the robot to maintain rigidity during operation without compromising its portability when folded
Data Source
AI summary
A collapsible, versatile, multiple axis Cartesian robot system is aimed directly at solving the issue of the inverse relationship of robot portability to workspace volume. The collapsible, multiple axis Cartesian robot, minimizes the collapsed size of the robot while maximizing the workspace volume in the use of multiple, alternating linear and rotary actuators.