Horizontal Articulated Robot Arm Segmentation for Confined Space Access
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Solution Overview
Problem
Horizontal articulated robots have limited operational capabilities due to restricted end effector movement directions, which restricts their ability to perform a variety of operations, especially in narrow spaces.
Innovation Solution
The design incorporates a platform with a first arm moving along a linear axis and rotating around a parallel axis, a second arm moving along a perpendicular linear axis and rotating around a parallel axis, a third arm rotating around a perpendicular axis, and a fourth arm rotating around another perpendicular axis, allowing for combined motions that increase the number of movable axes and reduce the radius of rotation, enabling more versatile and precise operations in confined spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the end effector is controlled only by motions of the first arm, second arm, and guide shaft, then the structure is simple, but the direction in which the end effector can approach a work is limited
Solution Approach 1:
The robot arm is divided into multiple segments (first arm, second arm, third arm, fourth arm) with each segment having independent rotational degrees of freedom. This segmentation allows each arm to contribute independently to the overall motion, enabling the end effector to approach works from multiple directions while maintaining a relatively simple overall structure.
Solution Approach 2:
The patent introduces additional rotational dimensions by adding a third arm with rotation around a third rotational axis and a fourth arm with rotation around a fourth rotational axis. This dimensional expansion transforms the motion control from a planar two-degree-of-freedom system to a three-dimensional six-degree-of-freedom system, enabling approach from any direction.
2Adaptability or versatility
If the number of movable axes is increased to improve operational versatility, then the robot can perform more operations, but the device complexity increases
Solution Approach 1:
Multiple rotational movements are merged into a single articulated arm structure. The first, second, third, and fourth arms are connected in series, sharing common joints and axes. This merging approach achieves six degrees of freedom through a compact articulated configuration rather than using six separate independent actuators, thereby reducing overall device complexity.
Solution Approach 2:
The articulated arm structure serves multiple functions simultaneously: it provides translational movement through the guide shaft, rotational movement through the rotational axes, and positioning through the coordinated motion of all four arms. This multi-functionality reduces the need for separate mechanisms, achieving operational versatility without proportionally increasing device complexity.
Data Source
AI summary
The horizontal articulated robot includes a platform, a first arm which is coupled to the platform, which moves along a first linear-motion axis with respect to the platform, and which rotates around a first rotational axis parallel to the first linear-motion axis, a second arm which is coupled to the first arm, which moves along a second linear-motion axis different in direction from the first linear-motion axis with respect to the first arm, and which rotates around a second rotational axis parallel to the first rotational axis, a third arm which is coupled to the second arm, and which rotates around a third rotational axis perpendicular to the first linear-motion axis, and a fourth arm which is coupled to the third arm, and which rotates around a fourth rotational axis perpendicular to the third rotational axis.