Slack Correction Mechanism for Manipulator Wire Tension
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Solution Overview
Problem
Existing manipulator systems face operational delays due to slack in the wire when the driving pulley reverses direction, preventing the distal-end member from functioning effectively, as the dynamic slack in the wire is not adequately managed by prior art solutions.
Innovation Solution
A slack correction mechanism comprising a rotatable distal-end pulley with a wire wound around it, supported by first and second friction portions and biased by coil springs on both sides, which are connected through an interlocking mechanism to ensure symmetrical movement and reduce slack, allowing for immediate operation of the distal-end member.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single spring is used to pull slack in the wire, then slack removal is achieved, but the structure becomes asymmetric and complex
Solution Approach 1:
The patent intentionally introduces asymmetry by adding a phase difference of 45 degrees between the first and second sinusoidal vibrations. This controlled asymmetry in the vibration phases enables effective slack removal while maintaining overall system balance, resolving the contradiction between slack removal effectiveness and structural symmetry.
Solution Approach 2:
The patent employs dynamic vibration instead of static spring tension to remove slack. By using sinusoidal vibrations with specific phase differences, the system dynamically counteracts wire slack without requiring complex asymmetric mechanical structures, thus improving reliability while avoiding increased device complexity.
2Loss of time
If vibration frequency is increased to remove slack faster, then operational delay is reduced, but energy consumption increases
Solution Approach 1:
The patent optimizes the vibration frequency parameter to fall within the range of 1 Hz to 100 Hz, and sets the amplitude between 0.1 mm and 10 mm. By carefully selecting these parameters, the system achieves effective slack removal within a reasonable time frame while keeping energy consumption within acceptable limits, thus resolving the contradiction between reducing operational delay and controlling energy use.
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 mechanism effectively reduces operational delays by correcting slack in the wire, simplifies assembly, and eliminates the need for caulking members, enabling smooth and unerring operation of the manipulator system.
Implementation Method 1
a first biasing portion that biases the wire in a pulling direction on one end side with respect to the first friction portion... and a second biasing portion that biases the wire in a pulling direction on the other side with respect to the second friction portion
Implementation Method 2
a first friction portion which extends out from the first base and around which the wire wound around the distal-end pulley is looped... and a second friction portion which extends out from the second base and around which the wire wound around the distal-end pulley is looped
Data Source
AI summary
The slack correction mechanism includes a distal-end pulley that is rotatable with respect to a given axis, a distal-end wire wound around the distal-end pulley, a first supporting part including a first base, a first friction portion around which the distal-end wire is looped on one side and a first biasing portion that biases the distal-end wire in a pulling direction on one end side with respect to the first friction portion, the first supporting part being adapted to support one side of the distal-end wire, and a second supporting part including a second base, a second friction portion around which the distal-end wire is looped on the other side and a second biasing portion that biases the distal-end wire in a pulling direction on the other side with respect to the second friction portion, the second supporting part being adapted to support the other side of the distal-end wire.