Master-Slave Robot Elbow Guide for Accurate Linear Operation
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Solution Overview
Problem
In conventional master-slave manipulator systems, operators face difficulty in accurately performing linear operations of the slave robot due to the rotation of their arms about the elbow when using the master device, which acts as a fulcrum.
Innovation Solution
A robot system incorporating an elbow guide mechanism with an elbow support that moves linearly to guide and support the operator's elbow, allowing for linear operation of the slave robot without rotating the forearm around the elbow.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the operator operates the master device with elbows on the armrest, then the operator can perform surgery using the slave manipulator, but the operator's forearms rotate about the elbows as fulcrums making accurate linear operation difficult
Solution Approach 1:
A guide mechanism is introduced as an intermediary component between the operator's elbow and the master device. This guide mechanism includes a guide member that contacts the operator's elbow and a guide hole through which the elbow moves, constraining the elbow to linear motion along the intended operation direction. This intermediary structure eliminates the rotational movement about the elbow while maintaining operator comfort and support.
2Device complexity
If the elbow support is fixed, then the structure is simple, but the operator cannot perform linear movement of the elbow accurately
Solution Approach 1:
The elbow support is designed with dynamic characteristics, allowing the guide member to move along the guide hole in response to the operator's elbow movement. The guide hole is shaped to permit linear movement of the elbow while preventing rotational movement. This dynamic guide structure adapts to the operator's movements while maintaining precise linear constraint, achieving both operational accuracy and structural simplicity.
Data Source
AI summary
A robot system (100) includes a slave robot (10), a master robot (20) to remotely control the slave robot, and an elbow guide mechanism (40) including an elbow support (41) operable to move to guide an elbow of an operator (O) while supporting the elbow of the operator when the master robot is operated by the operator.