Manipulator Joint Structure with Parallel Shafts for Large Swiveling Angles
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Solution Overview
Problem
Existing joint structures for manipulators lack sufficient rigidity and flexibility to allow for large swiveling angles without interference, and they often fail to maintain stability under bending forces and traction, which limits their ability to grip objects effectively and operate in confined spaces.
Innovation Solution
A joint structure featuring swiveling members connected via rolling contacts, parallel shafts forming bending joints, pulleys, and linking members with supporting parts and coupling parts that distribute swiveling angles and enhance rigidity, allowing for large swiveling motions while preventing interference and maintaining structural integrity under bending forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the manipulator uses a conventional joint structure with rolling contacts and linked pulleys, then the structure can achieve swiveling motion, but the rigidity is insufficient and large swiveling angles cause interference
Solution Approach 1:
The joint structure is divided into multiple independent shafts (first shaft, second shaft, third shaft) that can swivel independently. Each shaft is supported by separate supporting parts on the linking member, allowing distributed swiveling motion without mutual interference. This segmentation enables each component to move within its own range while maintaining overall structural integrity.
Solution Approach 2:
The patent introduces multiple parallel shafts arranged in different spatial dimensions rather than a single swiveling mechanism. The first, second, and third shafts are positioned at different locations and orientations, distributing the swiveling motion across multiple dimensions. This dimensional distribution prevents interference while achieving large overall swiveling angles through cumulative motion.
2Adaptability or versatility
If the manipulator joint allows large swiveling angles, then flexibility in narrow spaces is improved, but structural stability under bending forces decreases
Solution Approach 1:
Different parts of the joint structure have specialized functions: supporting parts provide localized support points for the shafts, shafts provide rotational freedom in specific directions, and the linking member provides overall structural connectivity. Each component is optimized for its local function, with the supporting parts positioned to minimize bending moments on individual shafts while maintaining flexibility.
Solution Approach 2:
The joint structure is designed to dynamically adapt during operation. The shafts can swivel independently based on operational requirements, allowing the manipulator to achieve various configurations. The flexible wire running through pulleys on each shaft enables dynamic adjustment of forces and moments, maintaining stability under varying bending conditions while preserving range of motion.
3Strength
If parallel shafts are used to form bending joints, then rigidity is improved, but the complexity of the joint structure increases
Solution Approach 1:
The linking member serves multiple functions simultaneously: it connects the first, second, and third shafts together, provides supporting parts for mounting the shafts, acts as a structural backbone for the joint, and enables coordinated swiveling motion across all shafts. The wire system also serves dual purposes by providing both actuation force and structural connection between pulleys. This multi-functionality reduces the need for additional separate components.
Solution Approach 2:
Multiple functional elements are merged into integrated components. The supporting parts are integrated directly onto the linking member rather than being separate attachments. The wire system is combined with the pulley mechanisms, where the same wire provides both actuation and structural connection. The shafts are merged with the rolling contact mechanism, where shaft rotation directly drives the swiveling motion through gear engagement.
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 joint structure enables manipulators to achieve large swiveling angles with reduced interference, increased rigidity, and enhanced gripping force, enabling reliable operation in narrow spaces and effective use with endoscopes and curved needles.
Implementation Method 1
swiveling members that are coupled so as to be able to swivel via a rolling contact
Data Source
AI summary
A joint structure of a manipulator includes: swiveling members that are coupled so as to be able to swivel via a rolling contact; shafts that constitute bending joints between the swiveling members and that are parallel to each other; pulleys that are rotatably supported about the shafts; and a connector attached to the shafts so as to be able to swivel about longitudinal axes of the shafts. The connector includes supports that are disposed on axial ends of the shafts so as to sandwich the pulleys therebetween in a direction of the longitudinal axis, and a beam that extends in between the supports to couple the supports to each other.