Manipulator Transmission Compensating Part Slack Removal
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Solution Overview
Problem
Existing manipulators face issues with dynamic slack in the transmission system, leading to inefficient power transmission and potential wire breakage due to friction and lack of control over state or performance fluctuations.
Innovation Solution
A manipulator system with a transmission compensating part, including a compensating motor and encoders, that dynamically adjusts to remove slack and ensure rapid actuation of the moving part by controlling the operating and moving parts' states through a control unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If wire tension is increased to prevent dynamic slack, then power transmission reliability is improved, but wire breakage risk increases due to excessive force
Solution Approach 1:
The system dynamically changes the tension parameter of the wire based on operational conditions. The tensioning device adjusts wire tension in real-time to maintain sufficient power transmission while preventing excessive force that could cause breakage, resolving the contradiction between reliability and wire strength
Solution Approach 2:
The system uses feedback from sensors to monitor wire tension and operational state, then adjusts tensioning forces accordingly. This closed-loop control ensures optimal tension is maintained without exceeding wire strength limits, addressing both reliability and wire integrity concerns
2Speed
If wire tension is adjusted to clear dynamic slack, then actuation speed is improved, but system complexity increases due to tension adjustment mechanisms
Solution Approach 1:
The tensioning device operates autonomously based on sensor feedback, automatically adjusting wire tension to clear dynamic slack without requiring manual intervention or complex control systems. This self-regulating mechanism improves actuation speed while minimizing added system complexity
Solution Approach 2:
A tensioning device acts as an intermediary component between the wire and the operating mechanism, simplifying the overall system by providing a dedicated, focused function for slack removal without requiring complex integration into the main manipulator system
3Ease of operation
If friction compensation is made at constant value, then operability is improved, but control precision deteriorates due to inability to adapt to state fluctuations
Solution Approach 1:
The friction compensation value is made dynamic rather than constant, automatically adjusting based on real-time system state measurements. This allows the system to maintain ease of operation while adapting to state fluctuations, thereby preserving control precision under varying conditions
Solution Approach 2:
The friction compensation parameter is changed from a fixed constant to a variable that responds to system state. This parameter adaptation enables the system to maintain both ease of operation and control precision across different operational conditions
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 system effectively removes dynamic slack, enabling rapid and precise movement of the manipulator's moving part in response to the operating part's actions, improving operational efficiency and preventing wire breakage.
Implementation Method 1
encoders, that dynamically adjusts to remove slack and ensure rapid actuation of the moving part by controlling the operating and moving parts' states through a control unit
Data Source
AI summary
A manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part. The manipulator includes an operating part operated by an operator, a moving part operated by the operating part, a transmitting part for coupling the operating part to the moving part to transmit driving force of the operating part to the moving part, a transmission compensating part for making up for a dynamic surplus occurring in the transmitting part in association with the operation of the operating part, an input part for acquiring a state of at least one of the operating, moving and transmitting part, and a control unit for controlling the transmission compensating part depending on the state acquired by the input part.