Modular End Effector Attachment for Variable Node Geometry
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Solution Overview
Problem
Robotic assembly operations face challenges in securely connecting nodes of varying geometries and sizes within transport structures, requiring precise and flexible attachment methods to ensure accurate and reliable assembly.
Innovation Solution
A modular attachment device with a center rail, flanges, and a collar providing multiple degrees of freedom, allowing for 6DoF movement and interlocking with keyways, enabling secure and versatile connection of modular attachments with robotic arms for assembly operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed attachment device is used for robotic assembly operations, then the structure is simple and reliable, but it cannot adapt to nodes of varying geometries and sizes
Solution Approach 1:
The attachment device is divided into modular components including a center rail, collar, arms, and flanges that can be independently positioned and configured. This segmentation allows each component to be optimized for specific functions while collectively providing adaptability to various node geometries without requiring complete redesign of the entire attachment device.
Solution Approach 2:
The attachment device incorporates dynamic elements such as the collar that can rotate around the center rail and arms that can move along the rail, enabling the structure to adapt its configuration based on the specific geometry and size of the node being assembled. This dynamic capability provides versatility while maintaining a relatively simple base structure.
2Ease of operation
If multiple degrees of freedom are provided for modular attachment movement, then positioning flexibility is improved, but device complexity increases
Solution Approach 1:
The collar is designed to rotate around the center rail, providing rotational degrees of freedom that enable the arms to reach multiple positions and orientations. This dynamic mechanism achieves positioning flexibility through controlled movement rather than complex static structures, balancing ease of operation with manageable device complexity.
Solution Approach 2:
The collar rotation around the center rail adds a rotational dimension to the positioning capability of the arms. By introducing this additional degree of freedom in a different dimensional space (rotational vs. linear), the system achieves enhanced positioning flexibility without proportionally increasing linear structural complexity.
3Adaptability or versatility
If the collar rotates around the center rail to provide degrees of freedom, then movement flexibility is improved, but positioning precision may be compromised
Solution Approach 1:
The center rail is pre-positioned and secured to the flanges with high precision before the collar rotation is utilized. This preliminary precise positioning establishes a stable reference frame that maintains manufacturing precision even as the collar and arms move flexibly around it, allowing movement flexibility without compromising overall positioning accuracy.
Solution Approach 2:
The center rail acts as an intermediary element that provides a stable, precisely manufactured reference structure. The collar rotates around this stable intermediary rather than directly affecting the final positioning components, thereby isolating the flexible movement from the precision requirements and maintaining positioning accuracy despite movement flexibility.
Data Source
AI summary
In the present disclosure, systems and apparatuses for enabling modular attachment of a plurality of devices are described. In one aspect, an apparatus may include a center rail having a distal end and a proximal end. The apparatus may further include a first flange coupled with the proximal end and a second flange coupled with the distal end. The apparatus may further include a collar disposed around the center rail and between the first flange and the second flange. The apparatus may further include at least one arm connected with the collar, and the at least one arm may be configured to connect with a modular attachment.