Foldable Robotic Arm With Parallel-Axis Joints for Confined Space Access

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

There is a need for a robotic system that can precisely position an end effector within a confined workspace and maneuver it past an access port into the space, while minimizing the system's size to fit through narrow openings.

Innovation Solution

A foldable robotic arm with a parallel-axis joint layout and a robotic wrist mounted to the last link, allowing the arm to be compactly stacked and unfolded for precise positioning and orientation of the end effector, along with an external apparatus for maneuvering the arm through access ports and a fine positioner module for precise surface interaction.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Volume of moving object

If the robotic arm is made foldable with parallel-axis joint layout, then the system can be compactly stacked to fit through narrow access ports, but the positioning precision and orientation capability may be compromised

Engineering Contradiction:

Improvecompactness of robotic armVSAvoidpositioning precision of end effector

Core Design Contradiction:

Volume of moving objectVSMeasurement precision

Solution Approach 1:

The robotic arm is divided into multiple links connected by joints with parallel axes, allowing each link to be independently positioned while maintaining overall compactness when folded. This segmentation enables the arm to achieve both small volume during transport and precise positioning during operation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The foldable robotic arm with parallel-axis joints allows links to be stacked compactly like nested dolls when not in use, minimizing the volume required for storage or transport through access ports, while still maintaining the capability for precise positioning when deployed.

Inventive Principle:

Principle #7Nested doll (Nesting)

2Adaptability or versatility

If a robotic wrist is added to orient the end effector, then the orientation capability is improved, but the device complexity increases

Engineering Contradiction:

Improveorientation capability of end effectorVSAvoidcomplexity of robotic system

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robotic wrist is integrated with the foldable robotic arm structure, merging the orientation function into the existing positioning system. This combination provides both positioning and orientation capabilities while minimizing additional complexity by sharing structural elements and control systems.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robotic wrist is designed to work in conjunction with the foldable arm, creating a multi-functional system that can both position and orient the end effector. This universal design allows a single integrated structure to perform multiple functions rather than requiring separate systems.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Length of moving object

If the robotic arm is folded into a compact configuration, then it can pass through narrow access ports, but the workspace volume available for positioning is reduced

Engineering Contradiction:

Improvelength of robotic armVSAvoidworkspace volume

Core Design Contradiction:

Length of moving objectVSArea of stationary object

Solution Approach 1:

The robotic arm transitions dynamically between a compact folded configuration for passing through access ports and an extended configuration for providing adequate workspace volume. The parallel-axis joints enable smooth transitions while maintaining positioning capability in both states.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS7967549B2Robotic system including foldable robotic arm

Publication Date: 2011.06.28 THE BOEING CO

AI summary

A system includes an end effector, a robotic wrist for orienting the end effector; and a robotic arm for positioning the end effector. The robotic arm is foldable into a stack. The robotic wrist is mounted to a last link of the robotic arm.