Articulate Joint Mechanism Cable Routing for Stress Minimization
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Solution Overview
Problem
Optical fiber cables in articulate joint mechanisms of robots often suffer damage due to excessive bending and stress, particularly in systems with numerous links and joints where cable integrity is critical for signal transmission.
Innovation Solution
An articulate joint mechanism is designed with a fiber cable core and sheath configuration that allows the core to deflect freely within the sheath, minimizing stress by securing the sheath at fixed points and allowing the core to move, thereby reducing bending stress and preventing damage during joint movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the optical fiber cable is fixed rigidly at both ends, then the cable structure is simple and easy to install, but the cable cannot withstand excessive bending and is prone to damage during joint movement
Solution Approach 1:
The cable retention system is divided into multiple discrete components: a first cable retaining part with first and second cable retaining portions, and a second cable retaining part with third and fourth cable retaining portions. Each portion independently secures the cable at specific locations, segmenting the stress distribution along the cable path and preventing concentrated bending damage.
Solution Approach 2:
Different portions of the cable retention structure provide different functions: the first and third cable retaining portions secure the cable to prevent movement, while the second and fourth portions allow controlled deflection. This local differentiation of retention characteristics optimizes both cable protection and flexibility at different locations.
2Reliability
If slack is given to the cable to prevent bending damage, then the cable can withstand movement, but the cable management becomes complex and space-consuming
Solution Approach 1:
The cable retention structure transitions from a static rigid fixation to a dynamic system that adapts to joint movement. The cable is secured at multiple points but allowed to deflect freely between these points, creating a dynamic configuration that maintains cable integrity during articulation without requiring excessive slack space.
Solution Approach 2:
The cable path is routed through multiple spatial dimensions by securing it at different locations along the joint mechanism. Instead of allowing linear slack in one direction, the cable is anchored at multiple points in three-dimensional space, utilizing spatial distribution to manage cable flexibility and reduce the volume required for cable accommodation.
3Reliability
If the cable is secured at multiple points, then the cable integrity is maintained, but the installation and maintenance complexity increases
Solution Approach 1:
Multiple cable retention functions are merged into an integrated assembly where the first and second cable retaining parts work together as a coordinated system. The retaining portions are combined with the joint mechanism structure itself, eliminating the need for separate external cable management components and simplifying the overall assembly process.
Data Source
AI summary
An articulate joint mechanism includes a first link (L1, A1, M1, U1), a second link (L2, A2, M2, U2), a coupling (KR, KR1, ER, ER1, ER2, MR, UR) mechanically connecting the first link with the second link in a mutually moveable manner at least with one degree of freedom, and an optical fiber cable (11, 21, 31, 41) extending from the first link to the second link via the coupling, the optical fiber cable including a fiber cable core (F1, F2, F3, F4) and a sheath (C1, C2, C3, C4) surrounding the fiber cable core. The joint mechanism comprises a first cable retaining part (P1) provided in a part of the first link and including a sheath fixing part (P1-2) for fixedly securing the sheath to the first link and a core fixing part (P1-1) for fixedly securing the fiber cable core to the first link, and a first cable engaging part (Q1) provided in a part of the first link located between the first cable retaining part and the coupling and including a sheath fixing part (Q1-2) for fixedly securing the sheath to the first link while allowing the optical fiber core to deflect freely.