Detachable Telemanipulator Handle With Quick Cable Coupling
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Solution Overview
Problem
Existing telemanipulator systems face challenges in efficiently removing and replacing the command handle, as the process is slow and laborious due to the need to disconnect and re-route the linear translation mechanism.
Innovation Solution
The manipulator system incorporates a cable coupling assembly with releasably coupled coupler blocks and an attachment structure, allowing for quick detachment and attachment of the command handle without the need for tools, thereby simplifying the process of handle replacement and maintenance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If the command handle is made detachable for maintenance and replacement, then ease of repair and adaptability are improved, but the complexity of the coupling mechanism increases
Solution Approach 1:
The command handle is divided into separable components: the handle body and the cable coupling assembly. The coupling assembly itself is segmented into first and second coupler blocks that can be independently manipulated. This segmentation enables the handle to be detached for maintenance while keeping the cable routing intact, resolving the contradiction between ease of repair and device complexity.
Solution Approach 2:
The first and second coupler blocks serve as intermediary elements between the handle and the cable system. These coupler blocks provide a standardized interface that simplifies the detachment and reattachment process. The attachment structure acts as a mediator that connects the coupler blocks to the cable ends, enabling easy handle replacement without complex re-routing operations.
2Productivity
If the command handle is made detachable for quick replacement, then productivity is improved, but the complexity of the attachment structure increases
Solution Approach 1:
The cable ends are pre-equipped with coupling assemblies that include the first and second coupler blocks before the handle needs to be replaced. This preliminary preparation of the coupling mechanism allows for rapid handle detachment and reattachment without requiring complex field operations or extensive cable re-routing, thereby improving productivity while managing attachment structure complexity.
3Ease of operation
If the cable coupling assembly uses releasable coupler blocks, then ease of operation is improved, but the reliability of the connection may be compromised
Solution Approach 1:
The coupler blocks are designed with nested structures where the first coupler block contains or interfaces with the second coupler block. This nesting arrangement allows for secure, multi-stage engagement that maintains connection reliability while enabling controlled detachment. The nested design provides mechanical interlocking that ensures secure connection during operation but allows for intentional release when needed.
Data Source
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AI summary
A telemanipulator command handle (147, 230, 330) comprising a handle framework (232, 332), a first cable (250, 350) having a first end (252, 353) and a second end, wherein the second end of the first cable is coupled to the handle framework, a first coupler block (241, 341) coupled to the first end of the first cable and a connector configured to reversibly couple to an output shaft (222, 322) of a telemanipulator wrist joint.