Continuum Robot Intermediate Shaft Reduces Friction
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Solution Overview
Problem
In continuum robots, the configuration of motors and wires leads to increased moment and friction, causing abrasion and blockages, and existing solutions either exacerbate these issues or introduce frictional forces that hinder smooth movement.
Innovation Solution
A continuum robot design featuring a bendable body with linear members along a first pitch circle, motors with output shafts along a second pitch circle, intermediate supporting shafts along a third pitch circle, and connection members to convert rotational motion into linear motion, optimizing the layout to reduce moment and friction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the motor shaft is arranged at a position offset outside in the radial direction of the pitch circle to avoid interference, then the motors can be positioned without interference, but the moment applied to the tractor increases, causing larger abrasion and deteriorating endurance
Solution Approach 1:
The patent introduces a intermediate supporting shaft as a mediator between the motor shaft and the wire end portion. This intermediate shaft is positioned at a different radial distance from the pitch circle center compared to the motor shaft, thereby reducing the moment arm and the applied moment on the tractor while still allowing the motor to be positioned outside the pitch circle to avoid interference.
2Length of stationary object
If the wire is configured to be bent to the outside in the radial direction of the pitch circle to reduce the distance between the wire end and motor shaft, then the distance becomes smaller, but a frictional force occurs that blocks wire movement
Solution Approach 1:
The intermediate supporting shaft serves as a mediator that changes the path configuration. Instead of bending the wire directly outward which creates friction, the wire is routed through the intermediate shaft positioned at an optimized radial distance, reducing the moment while maintaining smooth wire movement without excessive frictional forces.
3Ease of operation
If the distance between the wire end and motor shaft is increased to position the motor outside the pitch circle, then motor interference is avoided, but the moment and abrasion increase
Solution Approach 1:
The intermediate supporting shaft acts as a mediator that decouples the motor positioning requirement from the wire connection point. The motor shaft can be positioned far outside the pitch circle to avoid interference, while the intermediate shaft is positioned at an optimized distance that minimizes the moment and abrasion on the tractor.
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
This design enhances durability and ensures smooth movement of the linear members by minimizing moment and frictional forces, improving the overall performance of the continuum robot.
Implementation Method 1
a plurality of second connection members respectively connecting the plurality of intermediate supporting shafts and the plurality of output shafts to each other and configured to convert rotation of each of the plurality of output shafts into rectilinear motion to cause each of the plurality of intermediate supporting shafts to rectilinearly move
Data Source
AI summary
One or more embodiments of a continuum robot may include a bendable body having linear members provided along a first pitch circle, and motors respectively having output shafts provided along a second pitch circle offset outside from the first pitch circle and being configured to respectively drive linear members to bend the bendable body; intermediate supporting shafts provided along a third pitch circle offset outside from the first pitch circle and offset inside from the second pitch circle; first connection members respectively connecting end portions of the linear members and the intermediate supporting shafts to each other; and second connection members respectively connecting the intermediate supporting shafts and the output shafts to each other and configured to convert rotation of each of the output shafts into rectilinear motion to cause each of the intermediate supporting shafts to rectilinearly move.