Distributed-Linkage Robot Arm for Concurrent Multi-Payload Handling
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Solution Overview
Problem
Material-handling robots operating in vacuum environments typically rely on centralized actuators, which limits their scalability and performance due to complex mechanical arrangements and reduced flexibility in handling multiple payloads.
Innovation Solution
A material-handling robot with a distributed actuator architecture, where actuators are integrated throughout the robot's structure, including the robot arm, to support multiple linkages and motion axes, enhancing scalability and performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If centralized actuators are used in material-handling robots, then the mechanical structure is simpler, but the flexibility and scalability for handling multiple payloads are reduced
Solution Approach 1:
The patent divides the actuator system into multiple distributed actuators (first actuator, second actuator, third actuator) positioned at different locations on the robot arm. Each actuator independently controls specific linkages, allowing the system to handle multiple payloads simultaneously with improved flexibility while maintaining manageable mechanical complexity through modular segmentation
2Productivity
If distributed actuators are integrated throughout the robot structure, then flexibility and productivity for concurrent payload processing are improved, but the device complexity increases
Solution Approach 1:
The distributed actuators are designed with universal functionality to control multiple linkages. The first actuator controls the first linkage, the second actuator controls the second linkage, and the third actuator controls both shoulder pulleys, demonstrating multi-functional capability that enables concurrent payload processing while managing system complexity through standardized actuator designs
3Adaptability or versatility
If multiple linkages with independent actuators are used, then the ability to carry and position multiple payloads is enhanced, but the mechanical arrangement becomes more complex
Solution Approach 1:
The patent implements dynamic control through independent actuators that can adjust the position and orientation of multiple linkages in real-time. The first linkage carries a first payload while the second linkage carries a second payload, with each actuator dynamically adjusting its position to optimize task performance, demonstrating adaptability enhanced through dynamic actuation
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
The distributed actuator architecture allows for increased flexibility and efficiency in handling multiple payloads, improving overall productivity by enabling concurrent processing of multiple payloads while maintaining mechanical simplicity and high performance.
Implementation Method 1
The first rotary joint comprises a first shoulder pulley... The first link is rotatable about the first rotary joint by a first actuator attached to the base
Implementation Method 2
The fourth rotary joint comprises a second shoulder pulley... The fourth link is rotatable about the fourth rotary joint by a second actuator attached to the base
Data Source
AI summary
An apparatus includes a drive; a movable arm having a base pivotally connected to the drive, first and second linkages, the first linkage having a first link rotatable on the base at a first rotary joint, a second link connected to the first link at a second rotary joint, and a third link connected to the second link at a third rotary joint, the third link having an end-effector, and the second linkage having a fourth link rotatable on the base at a fourth rotary joint, a fifth link connected to the fourth link at a fifth rotary joint, and a sixth link connected to the fifth link at a sixth rotary joint, the sixth link having another end-effector. The apparatus also includes a master controller coupled to the drive, the master controller being configured to control movements of the movable arm and the base relative to the drive.