Compound-Arm Manipulator Linkage for Tactile Crane Control
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Solution Overview
Problem
Overhead cranes lack tactile feedback for operators, making it difficult to precisely maneuver objects, especially when fitting them into fixtures or placing heavy objects gently.
Innovation Solution
A compact manipulator with a linkage system that includes a load balancing device, allowing for fine control and tactile feedback during object movement, integrated with an overhead crane system for horizontal and vertical movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a traditional overhead crane is used to achieve large coverage area, then the area of stationary object is improved, but the ease of operation deteriorates due to lack of tactile feedback
Solution Approach 1:
The system divides the overhead crane into two functional parts: a traditional hoist for gross horizontal movement and a compact manipulator for fine vertical positioning. This segmentation allows each component to specialize - the hoist covers large areas while the manipulator provides tactile feedback through direct manual manipulation of the load.
Solution Approach 2:
The manipulator acts as an intermediary device between the operator and the load. It translates small manual movements of the lift arm into precise vertical positioning of the load, providing the operator with tactile feedback while maintaining the coverage capabilities of the overhead crane system.
2Adaptability or versatility
If a manipulator with large range of motion is designed, then the extent of automation is improved, but the device complexity increases
Solution Approach 1:
The manipulator employs a nested linkage structure where links are arranged concentrically, with inner links contained within outer links. This nesting allows the manipulator to achieve a large range of motion while maintaining a compact form factor and reducing overall structural complexity.
Solution Approach 2:
The linkage is configured to fold back on itself in a compact arrangement, utilizing three-dimensional spatial optimization. By arranging links in a folded configuration rather than a linear extension, the manipulator achieves substantial vertical range of motion within a limited horizontal footprint.
3Area of moving object
If a compact manipulator design is used to reduce footprint, then the area of moving object is improved, but the range of motion may be limited
Solution Approach 1:
The nested linkage configuration allows inner links to rotate within the envelope of outer links, enabling the manipulator to achieve a large vertical range of motion while maintaining a small horizontal footprint. The compact nested structure maximizes vertical travel without increasing the horizontal space required.
Solution Approach 2:
The manipulator employs a dynamic linkage configuration where the relative positions and orientations of links change throughout the range of motion. This dynamic arrangement allows the structure to adapt its geometry to maximize vertical travel while maintaining compact horizontal dimensions throughout the motion cycle.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables operators to receive tactile feedback and achieve precise control over object placement, improving the accuracy and safety of load maneuvering operations by minimizing the footprint and maximizing vertical range of motion.
Implementation Method 1
The load balancing device includes a hydraulic or pneumatic cylinder that is connected between the base and one of the links
Implementation Method 2
The degree of freedom between the links is constrained by friction at bearing surfaces between the links
Data Source
AI summary
In a first aspect, the invention is directed to a manipulator that is relatively compact and has a relatively large range of motion. The manipulator includes a linkage that folds back on itself, which reduces the footprint of the linkage. In a particular embodiment, the manipulator includes a linkage and a load balancing device. The linkage includes a first link, a second link, a third link and a fourth link. The first link and second links are rotatably connected to a base about first and second connection axes. The third and fourth links are connected to the first and second links respectively about third and fourth connection axes respectively. The third and fourth links are rotatably connected to a lift arm about fifth and sixth connection axes respectively, wherein the fifth and sixth connection axes are horizontally displaced from the third and fourth connection axes in the direction of the first and second connection axes. The load balancing device is configured to support the linkage in a selected position against a load and configured to permit the load to be moved upwards or downwards with a selected amount of force on the lift arm. The manipulator may be provided as part of a load maneuvering system that further includes a transport system that may be similar to that used on an overhead crane.