Linked Continuum Arm Robots Mutual Bracing Stiffness
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current continuum arm robots suffer from low stiffness due to the number of joints, limiting their load-carrying capacity and interaction with the environment, especially in longer lengths where deflection causes position and navigation issues, restricting their use to lightweight tasks.
Innovation Solution
A system of linked continuum arm robots, where a second continuum arm robot with a releasable connection mechanism supports a first continuum arm robot, increasing stiffness and payload capacity by bracing each other, allowing for improved static and dynamic behavior and enabling operation in confined spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the number of joints is increased to improve dexterity and access to confined spaces, then the robot can operate in more complex environments, but the stiffness and load-carrying capacity are reduced
Solution Approach 1:
The patent combines multiple continuum arm robots into a collaborative system where they support each other through mutual bracing. This merging of multiple flexible robots creates a composite system with enhanced stiffness and load-carrying capacity, allowing them to perform tasks that require both dexterity and strength.
Solution Approach 2:
The patent introduces a connection mechanism as an intermediary element that physically links multiple continuum arms. This connector enables the arms to transfer forces and support each other, effectively mediating between the flexible individual arms and the stiff collaborative system they form together.
2Length of moving object
If the robot arm length is increased to reach distant targets, then the working range is expanded, but the deflection and position accuracy deteriorate
Solution Approach 1:
By combining multiple continuum arms of moderate length into a collaborative system, the patent achieves an effective working range that extends beyond what a single long arm could maintain with adequate precision. The mutual support reduces deflection, preserving position accuracy across extended reach.
Solution Approach 2:
The patent transitions from a single-arm system to a multi-arm collaborative system, adding the dimension of inter-arm coordination. This allows the system to achieve extended reach while maintaining accuracy through the additional degree of freedom provided by multiple supporting arms.
3Reliability
If the robot is designed for lightweight tasks to avoid damage, then the robot safety is improved, but the load-carrying capacity is limited
Solution Approach 1:
The patent merges multiple lightweight continuum arms into a collaborative system where they collectively bear heavier loads. Each arm remains within its safe operational limits while the group achieves enhanced load-carrying capacity, maintaining robot safety while overcoming individual strength limitations.
Solution Approach 2:
The patent employs multiple arms to counterbalance each other's loads, with each arm providing support that reduces the burden on the others. This mutual counterweighting allows the system to handle heavier payloads while each individual arm operates within its safe capacity.
4Measurement precision
If the number of actuators is increased to control more joints, then the positional accuracy is improved, but the system complexity and cost increase
Solution Approach 1:
The patent combines the control systems of multiple continuum arms into a unified collaborative control architecture. This merging allows the system to leverage the positional accuracy of multiple actuated arms while managing complexity through integrated control that coordinates all arms as a unified system rather than separate independent systems.
Data Source
AI summary
A continuum arm robot system comprising at least a first continuum arm robot and a second continuum arm robot, each continuum arm robot being controlled by its own actuator pack, and each actuator pack being coupled to a single control computer, wherein at least the second continuum arm robot comprises a releasable connection mechanism to engage in gripping the first continuum arm robot in a workspace, so as to link the at least two continuum arm robots into a single redundant robotic system with at least the second continuum arm robot providing support for the first continuum arm robot.