Enabler Joint Robotic Arm for Extended Container Reach
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Solution Overview
Problem
Industrial robots, such as 6-DOF robotic arms, are limited by their physical configuration, environment, and control software, restricting their operational reach and flexibility.
Innovation Solution
Integration of an additional joint, referred to as an 'enabler' joint, provides an additional degree of freedom, enhancing the robot's reach and flexibility. This joint is controlled by a separate or integrated controller to coordinate movements with the existing robotic arm joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a standard 6-DOF robotic arm is used, then the robot has a predetermined operational reach and flexibility, but it cannot access items in restricted areas or extend beyond its fixed workspace
Solution Approach 1:
The robotic system is segmented into a standard 6-DOF robotic arm and a separate enabler joint mechanism. The enabler joint acts as an independent segment that provides additional reach capability without modifying the core robotic arm structure, allowing the system to access restricted areas while maintaining the simplicity of the original robotic arm configuration.
Solution Approach 2:
The enabler joint serves as an intermediary mechanism between the robotic arm and the workpiece. It extends the robotic arm's reach by providing an additional degree of freedom that allows the end effector to access items in restricted areas without requiring a completely different robotic arm configuration.
2Adaptability or versatility
If the robotic arm operates within its fixed workspace, then the control system remains simple, but the robot cannot manipulate items outside its operationally accessible space
Solution Approach 1:
The control system is segmented into the standard robotic arm controller and a separate enabler joint controller. This segmentation allows the enabler joint to be controlled independently to extend the workspace, while the main robotic arm controller remains unchanged, thus managing complexity through modular control architecture.
Solution Approach 2:
The enabler joint provides multi-functionality by enabling the robotic system to perform both standard operations within the original workspace and extended operations in restricted areas. This universal capability is achieved through an additional degree of freedom that can be activated as needed without requiring multiple specialized robotic arms.
3Adaptability or versatility
If additional degrees of freedom are added to extend reach, then the robot can access restricted areas, but the physical configuration becomes more complex
Solution Approach 1:
The additional degree of freedom is segmented as a separate enabler joint rather than being integrated into the robotic arm's core structure. This segmentation allows the flexibility enhancement to be added without fundamentally altering the robotic arm's physical configuration, maintaining modularity and reducing overall system complexity.
Solution Approach 2:
The enabler joint acts as an intermediary that provides the additional degree of freedom needed for accessing restricted areas. It mediates between the robotic arm's limited reach and the requirement for extended flexibility, adding only the necessary joint without requiring a complete redesign of the robotic arm's physical configuration.
Data Source
AI summary
A robotic system is disclosed which includes a robotic arm having n degrees of freedom, the robotic arm comprising a base and a set of serially connected links and joints connected to the base; an enabler joint assembly comprising a mounting location at which the base of the robotic arm is mounted and having a rotational axis, offset from the mounting location, about which the enabler joint assembly is configured to rotate the mounting location; and a processor configured to control a first set of motors associated with the n degrees of freedom of the robotic arm and an enabler joint motor comprising the enabler joint assembly to control operation of the robotic arm within an extended operating space defined at least in part by the n degrees of freedom of the robotic arm and an (n+1)th degree of freedom provided by the enabler joint assembly.