Laminated Cable with Separator Webs for Robotic Joints

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Solution Overview

Problem

Conventional cable management systems for robotic arms face challenges in accommodating joint movements without mechanical wear, requiring extra space or expensive support components, and often result in cable snagging or increased system complexity.

Innovation Solution

A unitary flat laminated cable with multiple insulated sub-cables that can be separated and connected to joint-associated components, allowing for flexible accommodation within compact joint spaces without interfering with mechanical motions or incurring damage, and enabling easy connection and disconnection without custom support components.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If externally bundled cables are routed to joints, then cable connection is simplified, but cable snagging occurs and large cable loops require support structures

Engineering Contradiction:

Improvecable connection simplicityVSAvoidcable snagging

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The cable bundle is segmented into individual insulated sub-cables that can be separated and routed independently through joint channels, preventing snagging while maintaining connection simplicity

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces an intermediary cable management system with channels and guides that mediate between the cable bundle and joint movement, eliminating snagging without requiring complex support structures

Inventive Principle:

Principle #24Intermediary (Mediator)

2Adaptability or versatility

If highly flexible cables are routed through joints, then joint movement is accommodated, but cable wear increases and mechanical strength decreases

Engineering Contradiction:

Improvejoint movement accommodationVSAvoidcable mechanical strength

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The cable is divided into multiple insulated sub-cables that can move independently through the joint, reducing torsional stress and wear on individual cables while maintaining flexibility

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent uses flexible insulated coatings and protective sheaths on each sub-cable to protect against mechanical wear while allowing the cable to accommodate joint movements

Inventive Principle:

Principle #30Flexible shells and thin films

3Ease of operation

If bundles of torsion-rated cables are passed through joint centers, then cable displacement is minimized, but internal space is consumed and joint complexity increases

Engineering Contradiction:

Improvecable displacement minimizationVSAvoidjoint configuration complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The cable bundle is segmented into separate insulated sub-cables that can be routed through existing joint channels without requiring central holes or custom internal spaces, avoiding joint complexity

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent transitions from routing cables through the central axis (one-dimensional constraint) to routing through peripheral channels (two-dimensional distribution), minimizing displacement while avoiding complex joint configurations

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

4Adaptability or versatility

If slip rings are used in compact robots, then wiring between flexible joints is linked, but system cost increases

Engineering Contradiction:

Improveflexible joint wiring connectionVSAvoidsystem cost

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The patent replaces expensive slip rings with inexpensive insulated sub-cables that can be easily connected and disconnected, providing the same functional capability at lower cost

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Solution Approach 2:

The cable system is segmented into separate insulated sub-cables that can be independently connected to joint components, eliminating the need for expensive slip rings while maintaining flexible joint wiring

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS10293496B2Robotic power and signal distribution using laminated cable with separator webs

Publication Date: 2019.05.21 RETHINK ROBOTICS INC

AI summary

Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub-cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.