Passive Magnetic Gravity Compensation for Articulated Mechanical Arms

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Solution Overview

Problem

Existing articulated mechanical arms face challenges with cumbersome and energy-dependent active devices for gravity compensation, which affect maneuverability, precision, and efficiency, especially in larger and heavier models.

Innovation Solution

A passive gravity compensation device using a drive mechanism and magnetic devices that transmit and retransmit torque to cancel out gravitational forces at articulations, eliminating the need for counterweights or motorized systems.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If active devices (motors or braking systems) are used for gravity compensation, then gravity compensation effectiveness is improved, but device complexity and energy consumption increase

Engineering Contradiction:

Improvegravity compensation effectivenessVSAvoiddevice complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces active mechanical systems (motors, brakes) with a passive mechanical system consisting of springs and counterweights that automatically compensate for gravity effects on the articulated arm without requiring external energy input or complex control systems

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The gravity compensation system uses the weight of the articulated arm itself and spring mechanisms to automatically generate compensating forces, making the system self-regulating without external control or energy input

Inventive Principle:

Principle #25Self-service

2Reliability

If active devices (motors or braking systems) are used for gravity compensation, then gravity compensation effectiveness is improved, but energy consumption increases

Engineering Contradiction:

Improvegravity compensation effectivenessVSAvoidenergy consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Use of energy by moving object

If passive devices (springs or counterweights) are used for gravity compensation, then energy consumption is reduced, but maneuverability deteriorates

Engineering Contradiction:

Improveenergy consumptionVSAvoidmaneuverability

Core Design Contradiction:

Use of energy by moving objectVSEase of operation

Solution Approach 1:

The patent divides the gravity compensation function into multiple independent spring mechanisms, each associated with specific articulations, allowing localized adjustment and maintenance of maneuverability while providing passive compensation

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The spring mechanisms are designed to provide dynamic compensation forces that adapt to the changing position and orientation of the articulated arm, maintaining maneuverability across the full range of motion while providing continuous gravity compensation

Inventive Principle:

Principle #15Dynamics

4Use of energy by moving object

If passive devices (springs or counterweights) are used for gravity compensation, then energy consumption is reduced, but device complexity increases

Engineering Contradiction:

Improveenergy consumptionVSAvoiddevice complexity

Core Design Contradiction:

Use of energy by moving objectVSDevice complexity

Solution Approach 1:

The patent combines multiple spring mechanisms into an integrated gravity compensation system that works across all articulations of the articulated arm, reducing overall complexity by unifying the compensation function while maintaining passive operation

Inventive Principle:

Principle #5Merging (Combining)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

The solution enhances maneuverability, precision, and energy efficiency while being suitable for a wide range of articulated mechanical arms, from lighter to heavier types, by effectively compensating for gravity without additional passive or active devices.

Implementation Method 1

the magnetic device being designed to produce torque further to the said rotation of the second member

Methodology Applied

Scientific EffectMagnetic torque: Magnetism

Data Source

PatentUS8904900B2Articulated mechanical arm equipped with a passive device for compensation for gravity

Publication Date: 2014.12.09 TRIMOS

AI summary

An articulated mechanical arm includes a passive device designed to compensate for the effects of gravity on at least a first pivot connection which articulates a first member of the arm on a second member of the arm, and constitutes a first degree of freedom of the arm. The passive device includes a drive mechanism and at least one magnetic device. The drive mechanism is designed to transmit to the magnetic device any rotation of the second member relative to the first pivot connection. The magnetic device is designed to produce torque further to the rotation of the second member. The drive mechanism and the magnetic device are also designed such that the torque is retransmitted by the drive mechanism to the first pivot connection, such that the retransmitted torque cancels the moment of force caused by gravity exerted on the articulated mechanical arm, relative to the first pivot connection.