Manipulator Arm Camera Layout for Clear Gripper View
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Solution Overview
Problem
Existing mobile robot designs face challenges with cable routing and obstruction issues due to separate search cameras and accessory ports, which complicate operations and risk damage to the system.
Innovation Solution
Integrate a camera at the end of the manipulator arm for a direct line of sight to grippers and use cable receptacles on arm links to manage cables, reducing obstruction and simplifying control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the search camera is implemented on an actuated link or mechanism separate from the manipulator arm, then the camera can be positioned for surveillance, but the search or surveillance task becomes more difficult due to obstruction and complexity
Solution Approach 1:
The patent integrates the search camera directly onto the manipulator arm structure, merging the surveillance function with the manipulator arm itself. This eliminates the need for separate actuated links and reduces obstruction, allowing the camera to maintain clear surveillance coverage while simplifying the overall system architecture and improving ease of operation.
Solution Approach 2:
The camera is positioned at the distal end of the manipulator arm, utilizing the spatial dimension provided by the arm's extended structure. This dimensional placement allows the camera to achieve optimal surveillance angles and coverage without requiring additional actuated mechanisms, thereby improving surveillance capability while reducing operational complexity.
2Ease of manufacture
If accessory and I/O ports are located low on the robot platform, then cable routing becomes necessary, but the dynamic joints of the manipulator arm must operate unencumbered or else damage may occur
Solution Approach 1:
The patent extracts the accessory and I/O ports from the low-positioned robot platform and relocates them directly onto the manipulator arm structure. This extraction eliminates the need for long cables to extend from the base to the accessories, removing the hazard of cable damage from dynamic joint operations while maintaining ease of manufacture through integrated port placement.
Solution Approach 2:
The manipulator arm itself serves as an intermediary structure that carries both the accessories and their corresponding I/O ports along its length. This intermediary placement allows cables to be routed locally near the accessories rather than extending from the base, eliminating cable damage risks while maintaining manufacturing simplicity.
3Adaptability or versatility
If cables extend from manipulator-mounted accessories down to the bottom of the system, then connectivity is achieved, but cable routing becomes complex and damage risk increases
Solution Approach 1:
The patent merges the location of accessory mounting with I/O port placement, both being positioned on the same manipulator arm structure. This merging allows cables to connect locally between accessories and ports without extending to the system base, thereby maintaining accessory connectivity while dramatically reducing cable routing complexity and eliminating damage risks from dynamic joint movements.
Data Source
AI summary
A robot may include a manipulator arm including a plurality of links and one or more grippers configured to perform a gripper work. A camera may be positioned at an end of the manipulator arm to provide a direct line of sight to the grippers and observe the gripper work from above the grippers.