Robotic Manipulator Using Threaded Shafts and Universal Joints
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Solution Overview
Problem
Current mechanical manipulators for robotic systems often require complex components, have limited range, and suffer from singularities, making them difficult to use for precise positioning in small or confined spaces without being overly complicated or expensive.
Innovation Solution
A mechanical manipulator design featuring a mount member, base member, coupling member, and output member with three motors and drive trains, utilizing threaded shafts and universal joint pair assemblies to provide a large operating range without singularities, allowing for precise positioning over a hemispherical surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If conventional mechanical manipulators are used, then they can achieve some positioning capability, but they require complicated components and assembly procedures
Solution Approach 1:
The manipulator is divided into modular components including a base member with threaded openings, drive shafts, universal joint assemblies, and a coupler member. Each component can be manufactured separately and assembled together, reducing overall complexity while maintaining functionality. The modular design allows for easier assembly procedures compared to conventional integrated manipulators.
Solution Approach 2:
The manipulator design incorporates universal joint assemblies that can accommodate various orientations and positions, making the same basic mechanism capable of performing multiple positioning functions. The threaded shafts and universal joints create a universal coupling system that can adapt to different task requirements without requiring specialized components for each function.
2Adaptability or versatility
If conventional mechanical manipulators are used, then they can perform basic positioning, but they have limited range and singularities in operation
Solution Approach 1:
The manipulator employs spherical joint mechanisms through the universal joint assemblies that allow rotation about multiple axes. This spherical geometry enables continuous motion over a wide range without encountering singularities, as the curved spherical surface allows smooth transitions between all orientations without the discontinuities present in conventional articulated manipulator joints.
Solution Approach 2:
The manipulator uses dynamic positioning capability through the threaded shafts that can be rotated to any angle and locked in place. The universal joint assemblies provide dynamic adaptability to various orientations, allowing the manipulator to adjust its configuration continuously without fixed singularities or limited ranges that characterize static joint designs.
3Ease of manufacture
If conventional mechanical manipulators are used, then they can achieve positioning, but they are relatively expensive to manufacture
Solution Approach 1:
The manipulator employs standard, off-the-shelf components such as threaded shafts, universal joint assemblies, and couplers that can be manufactured using conventional machining processes. These components are designed to be cost-effective and readily available, reducing manufacturing costs compared to custom-designed manipulators, while still achieving the required positioning precision through proper assembly and adjustment.
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
Enables accurate and versatile positioning of objects over a large range without singularities, facilitating use in small or confined spaces while maintaining simplicity and cost-effectiveness.
Implementation Method 1
three drive trains connected to the motors, respectively... an output member with threaded openings... utilizing threaded shafts
Implementation Method 2
utilizing threaded shafts and universal joint pair assemblies to provide a large operating range without singularities
Data Source
AI summary
A manipulator includes a mount member, a base member with threaded openings and an aperture, two links, and an output member with threaded openings and an aperture. The manipulator also includes three motors mounted to the mount member and three drive trains connected to the motors, respectively.