Manipulator Wire Driving Actuator Joint Bending Control
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Solution Overview
Problem
Conventional manipulators experience unintentional bending of terminal sections due to the influence of wires associated with joints closer to the actuator, when joints closer to the actuator bend.
Innovation Solution
A manipulator design featuring a wire driving actuator with base and terminal section driving levers, where terminal section driving wires are operatively connected to move by the same distance as base section driving wires, utilizing pulleys and guide pulleys to maintain parallel movement and prevent unintentional bending of the terminal section.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If terminal section driving wires pass through base section joints, then the structure is simplified, but unintentional bending of terminal section occurs during base section bending
Solution Approach 1:
The joint assembly is divided into a base section and a terminal section, with separate driving wires for each section. Base section driving wires control base section joints, while terminal section driving wires control terminal section joints, preventing cross-interference between sections
Solution Approach 2:
The terminal section driving wires are extracted from passing through base section joints. Instead, they are routed separately through dedicated pulleys and guides that prevent them from being influenced by base section bending operations
2Ease of operation
If base section driving wires are used to control base section, then base section bending is achieved, but terminal section is inadvertently influenced causing unintentional bending
Solution Approach 1:
The control system is segmented into independent base section control and terminal section control pathways. Base section driving wires operate independently on base section joints, while terminal section driving wires operate independently on terminal section joints, eliminating harmful cross-influence
Solution Approach 2:
Dedicated pulleys and guide structures serve as intermediaries that isolate terminal section driving wires from base section bending operations. These intermediaries ensure that terminal section wires are not inadvertently influenced when base section joints bend
Data Source
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AI summary
Disclosed is a manipulator comprising a wire driving actuator to bend base and terminal sections of a joint assembly in multiple directions by a base section wire and a terminal section wire. The terminal section driving wire is operatively connected to the base section driving wire such that the terminal section driving wire is moved by a distance equal to a movement distance of the base section driving wire. Accordingly, it is possible to prevent bending of the terminal section upon bending the base section.