Detachable Mobile End-Effector for Extended Robotic Reach
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Solution Overview
Problem
The operational limitations of robotic arms restrict the range of motion and functionality of their end-effectors, limiting their ability to access and interact with objects beyond their reach.
Innovation Solution
A detachable robotic end-effector with a locomotion device, position sensors, and a control system that allows independent movement and communication with the robotic arm, enabling the end-effector to detach and reattach as needed, and includes a lock mechanism for secure attachment and detachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the end-effector is fixed to the robotic arm, then the structural stability is improved, but the range of motion and accessibility to objects are limited
Solution Approach 1:
The system is divided into two independent segments: the robotic arm and the end-effector. The end-effector is detachably coupled to the robotic arm through a locking mechanism, allowing it to be separated when needed. This segmentation enables the end-effector to operate independently with its own locomotion device, expanding the overall range of motion while maintaining structural stability during attached operations.
Solution Approach 2:
The coupling between the robotic arm and end-effector is made dynamic rather than fixed. The locking mechanism allows the system to transition between attached and detached states, enabling the end-effector to adapt its operation mode based on task requirements. This dynamic configuration provides both structural stability during attachment and independence for expanded movement when detached.
2Adaptability or versatility
If the end-effector is detachable and mobile, then the range of motion is improved, but the device complexity increases
Solution Approach 1:
The end-effector is designed with multi-functionality, incorporating both a locking mechanism for attachment to the robotic arm and an independent locomotion device for mobile operation. This universal design allows a single end-effector unit to perform multiple functions: being manipulated by the robotic arm, operating independently, or transitioning between these states, thereby reducing the need for separate systems.
Solution Approach 2:
The locomotion device is integrated within or alongside the end-effector structure, allowing it to be contained within the overall system footprint. The locking mechanism is nested within the coupling interface between the robotic arm and end-effector. This nesting approach minimizes the additional space and complexity required for the detachable and mobile capabilities.
3Productivity
If the end-effector operates independently, then the productivity is improved, but the control system complexity increases
Solution Approach 1:
A control system acts as an intermediary between the robotic arm and the independent end-effector. This intermediary coordinates the operations of both components, manages the locking mechanism for attachment/detachment, and integrates their movements into a cohesive system. The intermediary control layer enables independent operation while managing the overall system complexity through centralized coordination.
Data Source
AI summary
The present disclosure is directed toward a robotic system that includes a robotic arm, a robotic end-effector, a lock, and a control system. The robotic end-effector is detachably coupled to the robotic arm and includes a locomotion device to move the robotic end-effector independent of the robotic arm. The lock is disposed with the robotic arm and robotic end-effector, and is operable to detach and attach the robotic arm and the robotic end-effector. The control system is configured to control the robotic arm and the robotic end-effector, and to operate the lock to detach and attach the robotic arm and the robotic end-effector.