End Effector Split Yoke Jaw Rotation Articulation
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Solution Overview
Problem
Existing end effector technologies for medical and other applications lack flexibility and precision in jaw movement, particularly in achieving multiple degrees of freedom such as opening, closing, articulation, and rotation, which limits their operational versatility.
Innovation Solution
The design incorporates an outer sleeve with first and second jaws, a split yoke assembly, rotatable jaw mounts, a pushrod, and a linkage system that allows for axial motion and translation, enabling the jaws to open and close while articulating relative to the longitudinal axis and rotating, thereby providing three degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a simple jaw mechanism is used, then the device complexity is reduced, but the operational flexibility and precision of jaw movement deteriorates
Solution Approach 1:
The jaw assembly is segmented into multiple independent components: jaws, jaw mounts, yoke assembly with segments, and linkage system. Each segment can move independently to provide different degrees of freedom, enabling complex operational flexibility while keeping individual components simple and manageable.
Solution Approach 2:
The mechanism employs dynamic movement capabilities where the jaw plane can articulate relative to the longitudinal axis and the jaws can rotate about multiple pivot points. This dynamic configuration allows the end effector to adapt to different operational requirements without increasing overall device complexity.
2Adaptability or versatility
If multiple degrees of freedom are added to the jaw mechanism, then the operational versatility is improved, but the device complexity increases
Solution Approach 1:
The end effector design integrates multiple functions into a single unified mechanism. The jaw assembly with articulated yoke and linkage system provides opening, closing, articulation, and rotation capabilities through a coordinated system of components, achieving multi-functionality without requiring separate mechanisms for each degree of freedom.
Solution Approach 2:
The yoke assembly acts as an intermediary mechanism between the pushrod actuation and the jaw movement. It translates linear pushrod motion into complex multi-axis jaw movements through its segmented structure and pivot connections, mediating the transformation from simple actuation to complex operational versatility.
3Device complexity
If the jaw plane is fixed relative to the longitudinal axis, then the device complexity is reduced, but the adaptability to different orientations deteriorates
Solution Approach 1:
The jaw assembly is designed with dynamic articulation capability where the jaw plane can change its orientation relative to the longitudinal axis. This is achieved through the articulated yoke assembly that allows the jaw plane to articulate while maintaining a manageable device structure through coordinated movement of its segments.
Data Source
AI summary
An end effector has three degrees of freedom in operation: (1) opening and closing of the jaws, (2) adjustable pivoting of the jaws relative to the longitudinal axis, and (3) rotation of the jaw assembly, regardless of its articulation, about the longitudinal axis. A split yoke assembly is coupled to rotatable jaw mounts, which in turn are coupled to the jaws. A pushrod is configured to open and close the jaws, and a translatable line, which may be implemented by a set of cables or by an additional pushrod, is configured to cause pivoting of the jaws.