Compact Robotic Arm Nested Drive Linkage
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Solution Overview
Problem
Current robotic arms used in surgical and industrial applications are bulky, requiring large spaces and limiting their versatility due to their size, which restricts their ability to perform multi-degree of freedom motion effectively.
Innovation Solution
A compact robotic arm design featuring a base frame, drive module, transmission linkage, and driven link set with strategically positioned driving sources and links that allow for multi-degree of freedom motion by concentrating large-volume components on the same side, enabling efficient space utilization and adjustable motion ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robotic arm designs are used, then multi-degree of freedom motion is achieved, but the volume and bulkiness increase significantly
Solution Approach 1:
The patent implements nesting by placing the second driving source inside the first driving source, and positioning links within each other when retracted. This nested arrangement allows multiple components to occupy overlapping spatial volumes, achieving multi-degree of freedom motion capabilities while maintaining a compact overall structure that does not require proportionally larger space for each additional degree of freedom.
Solution Approach 2:
The patent utilizes three-dimensional spatial arrangement by positioning driving sources at different heights and depths, and arranging links in multiple spatial layers. The first and second driving sources are mounted at different positions on the base frame, and links are configured to move in different spatial planes, enabling compact packaging of multi-degree of freedom mechanisms by exploiting volumetric space rather than just linear dimensions.
2Adaptability or versatility
If driving sources and links are distributed throughout the structure, then motion flexibility is improved, but the overall device volume increases
Solution Approach 1:
The patent merges multiple driving sources into a concentrated arrangement on the base frame, with the first and second driving sources positioned at specific locations rather than distributed throughout the structure. The links are also merged into a coordinated system where they interact through shared pivot points and connection points, allowing motion flexibility to be achieved through coordinated movement of consolidated components rather than through spatial distribution.
Data Source
AI summary
A robotic arm includes a first driving source and a second driving source mounted on a base frame, a first transmission link driven by the first driving source to turn around a first axis, a second transmission link driven by the second driving source to turn around a second axis that is parallel to the first axis, a third transmission link pivoted to the first transmission link, a first driven link pivoted to the second transmission link, a second driven link pivotally coupled between the first driven link and the base frame, a third driven link pivotally connected with the first and second driven link, and a fourth driven link pivotally coupled between the third driven link and the third transmission link. Thus, the robotic arm of the invention has a compact size and can achieve multi-degree of freedom motion.