Foldable Mechanical Arm with Nested Links for Constrained Reachability
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Solution Overview
Problem
Conventional robotic arms in healthcare and other constrained environments face limitations in reachability, payload capacity, and modularity, making them unsuitable for diverse tasks and spaces, particularly due to their bulkiness and lack of foldability.
Innovation Solution
A foldable mechanical arm with a kinematic structure comprising multiple links and revolute joints, allowing for compact stowage and extended reachability, which can be attached to a movable platform to perform pick-and-place operations in various workspaces, including those under and above surfaces, with independent control of each link for enhanced reachability and payload handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robotic arm uses a conventional fixed structure with multiple links and rotary joints, then it can perform pick-and-place operations, but it becomes large and bulky with limited reachability and cannot be foldable
Solution Approach 1:
The robotic arm is divided into multiple links (first link, second link, third link, fourth link, fifth link) connected by rotary joints, allowing each segment to move independently. This segmentation enables the arm to achieve extended reachability while maintaining a compact folded configuration where links can be positioned close together.
Solution Approach 2:
The arm transitions from a static fixed structure to a dynamic foldable structure. The links can be rotated and repositioned between operational and folded states, allowing the arm to adapt its configuration based on whether it needs to perform tasks or be stored compactly in constrained hospital spaces.
2Adaptability or versatility
If the robotic arm is designed for simple pick-and-place operations with low payload capacity, then it can handle small objects, but it cannot handle heavier objects like food trays without significant re-design
Solution Approach 1:
The robotic arm is designed with a universal structure that can handle both light objects (medicine bottles) and heavier objects (food trays) using the same basic configuration of five links and rotary joints. The arm's payload capacity is enhanced through structural optimization rather than complete system re-design, allowing one system to serve multiple functions across different applications.
3Ease of operation
If the robotic arm is made non-foldable to maintain structural integrity, then it can perform tasks reliably, but it cannot be stowed when not in use and occupies limited workspace
Solution Approach 1:
The arm employs dynamic reconfiguration capability, transitioning between an operational state where links are extended for task performance and a folded state where links are repositioned for compact storage. This dynamic behavior allows the arm to maintain structural integrity during operation while achieving stowability in constrained hospital environments.
Solution Approach 2:
In the folded configuration, the links are positioned such that they nest close together, with the second link positioned near the first link, the third link near the second link, and the fourth link near the third link. This nested arrangement minimizes the overall volume occupied by the arm when not in use.
4Adaptability or versatility
If the robotic arm uses a modular design to handle varied industries, then it can be applied in different settings, but it increases device complexity
Solution Approach 1:
The robotic arm uses a universal five-link modular structure that can be applied across multiple industries including healthcare, restaurants, and manufacturing. The same basic configuration of links and rotary joints can handle diverse tasks from moving medicine bottles to carrying food trays, eliminating the need for industry-specific re-designs.
Data Source
AI summary
A mechanical arm includes a first link connectable to a surface, a second link, a third link, a fourth link, and a fifth link that are coupled to one another in series, and an end effector connectable to the fifth link. The end effector is rotatable about an axis of rotation same as an axis of rotation of the fourth link, and rotatable about an axis of rotation orthogonal to the axis of rotation of the fourth link. The first link, the second link, the third link, the fourth link, and the fifth link are collectively structured and configured to rotate such that the end effector is actuatable to a workspace under the surface.