Compact Robotic Apparatus with Nested Limbs for Small Footprint
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Solution Overview
Problem
Conventional cylindrical coordinate robots are not suitable for small-scale applications due to their large size and limited movement, making them unsuitable for operating within a small footprint and limited working space.
Innovation Solution
A robotic apparatus with a compact design featuring a first guide rail, an elongate support, a first limb, a second limb, and an end effector mount, allowing for movement in two directions and rotation, with a modular and scalable structure to fit within a small footprint of 0.5 to 10m in length, 0.45m to 1m in width, and 0.5m to 3m in height, enabling an end effector to reach within a 1m x 1m x 1m working space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional cylindrical coordinate robots are used, then they can perform assembly operations and material handling, but they require large footprint and limited working space
Solution Approach 1:
The robotic apparatus transitions from conventional cylindrical coordinate geometry to a hybrid configuration incorporating linear motion along guide rails combined with rotational capability. The elongate support moves linearly along the first guide rail while simultaneously rotating, creating a workspace that efficiently utilizes three-dimensional space rather than being constrained to traditional cylindrical coordinates, thereby achieving larger workspace within smaller footprint
Solution Approach 2:
The robotic apparatus employs a nested configuration where the first limb and second limb are arranged in a compact, space-efficient manner. The limbs are positioned to nest within each other's operational envelope, allowing the end effector to reach extended distances while the base structure remains compact. This nesting arrangement maximizes workspace volume without proportionally increasing the robot's physical footprint
2Area of stationary object
If robotic apparatus is scaled down to fit small footprint, then it can be used in limited spaces, but movement range and reach are reduced
Solution Approach 1:
The apparatus utilizes a hybrid motion system combining linear translation along guide rails with rotational movement of the elongate support. This multi-dimensional motion capability allows the end effector to access a larger three-dimensional workspace volume without requiring a proportionally larger base footprint, effectively decoupling workspace size from physical footprint
Solution Approach 2:
The robotic apparatus incorporates dynamic elements including an extendable and retractable first limb and a pivotable second limb. These dynamic components allow the robot to adjust its reach and movement range in real-time, enabling compact dimensions when limbs are retracted while maintaining extended reach capability when limbs are deployed, thus resolving the contradiction between small footprint and large movement range
Data Source
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Figure 3A~3D
AI summary
A robotic apparatus comprising: a first guide rail; an elongate support attached to the first guide rail, the elongate support being movable along the first guide rail in two directions and rotatable at each position along the first guide rail; a first limb movable along a second guide rail in the elongate support, the first limb being extendable and retractable; a second limb pivotably attached to the first limb; an end effector mount located at the second limb and rotatable at one end of the second limb; and a third guide rail attached to the elongate support to guide movement of the elongate support in the two directions that the elongate support is movable along the first guide rail; and driving mechanisms to drive movements of the robotic apparatus.