Continuum Arm Robot Connection Plate for Rapid Actuator Changeover
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Solution Overview
Problem
The current setup of continuum arm robots, where each robot is permanently integrated with its actuator pack, necessitates the use of multiple robots for complex tasks, increasing operational costs and processing time due to the need for frequent configuration and replacement.
Innovation Solution
A connection plate system that allows for quick attachment and detachment of continuum arm robots to actuator packs, featuring a cut-out section with apertures for tendons, a rotatable plate with a sprung clutch, and alignment features for precise coupling, enabling efficient and secure connection without the need for complete robot replacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If continuum arm robots are permanently integrated with actuator packs, then structural stability and control precision are improved, but device complexity and operational cost increase due to requiring multiple robots for complex tasks
Solution Approach 1:
The system is divided into separable components: the continuum arm robot and the actuator pack can be independently configured and then connected through the standardized connection plate interface. This allows the actuator pack to serve as a shared resource across multiple robot configurations, reducing the total number of robots needed while maintaining control precision through precise alignment features.
Solution Approach 2:
The connection plate provides a universal interface that enables a single actuator pack to work with multiple different continuum arm robot configurations. The standardized apertures, alignment features, and tendon routing system allow the same actuator pack to control different robot arms for various tasks, eliminating the need for permanently integrated custom configurations.
2Adaptability or versatility
If multiple continuum arm robots are used for complex tasks, then task versatility is improved, but loss of time increases due to frequent configuration and replacement
Solution Approach 1:
The connection plate is pre-configured with apertures, alignment features, and tendon routing paths that enable quick attachment and detachment. The standardized interface allows operators to rapidly swap between different continuum arm robots and actuator packs without time-consuming configuration, as all alignment and connection elements are already in place.
Solution Approach 2:
The system enables dynamic reconfiguration by allowing the continuum arm robot to be disconnected from one actuator pack and quickly connected to another. The connection plate's design with movable components and flexible tendon routing allows the system to adapt to different task requirements in real-time without prolonged downtime.
3Stability of the object's composition
If continuum arm robots are permanently integrated with actuator packs, then structural stability is improved, but ease of operation worsens due to difficulty in changing robots for different tasks
Solution Approach 1:
The connection plate features a nested structure where the collar fits over the proximal end of the robotic arm, and the brake mechanism is contained within the cut-out section. This nested design provides structural stability while allowing sequential assembly and disassembly operations, making robot replacement easier without compromising structural integrity.
Solution Approach 2:
The connection plate acts as an intermediary component between the continuum arm robot and the actuator pack. It provides a standardized interface with alignment features and tendon routing that simplifies the connection process, making robot replacement easier while maintaining structural stability through its rigid construction and precise fitting mechanisms.
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
Facilitates rapid changeover between continuum arm robots and actuator packs, reducing operational costs and processing time while maintaining precise control and durability.
Implementation Method 1
The connection plate comprises a brake contained within the cut out section for clamping the tendons in position
Implementation Method 2
The rotatable plate may be further coupled to the connection plate by a sprung clutch
Data Source
Figure 1a~1b
Figure 2
Figure 3a~3b
AI summary
A connection plate for a continuum arm robotic, the connection plate having a collar for connecting to a continuum arm robot and a cut out section from one end and which extends to a plurality of apertures that are present within a face of the connection plate. A continuum arm robot comprising a robotic arm and a connection plate wherein the robotic arm comprises a connection plate that connects to the end of the distal end of the continuum arm robot through a collar, the connection plate having a cut out section that extends from one end into a plurality of apertures that the distal end of the tendons passes through.