Modular Continuum Robot Actuator for Quick Arm Reconfiguration
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Solution Overview
Problem
The existing continuum arm robots require multiple actuators for different tasks, leading to increased cost and complexity due to the need for configuring and replacing different robots, which is inefficient and time-consuming.
Innovation Solution
A universal actuator with interchangeable continuum arm sections and a modular design that allows for easy attachment and detachment of continuum arms, featuring a housing with integrated electronics and user input devices, enabling flexible tooling and control through a programmable logic controller and Ethernet for Control Automation Technology (EtherCAT) communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple different continuum arm robots are used for different tasks, then task versatility is improved, but device complexity and cost increase
Solution Approach 1:
The patent implements a universal actuator design that can interface with multiple different continuum arm robots through standardized mounting mechanisms and interchangeable end effectors. This allows a single actuator system to perform multiple tasks by simply changing the attached arm or tooling, eliminating the need for multiple dedicated robot systems.
Solution Approach 2:
The system is divided into modular components including the actuator, continuum arm sections, and interchangeable heads/end effectors. This segmentation allows independent replacement and reconfiguration of components to suit different tasks, reducing overall system complexity while maintaining versatility.
2Adaptability or versatility
If multiple different continuum arm robots are used for different tasks, then task versatility is improved, but operator time and setup complexity increase
Solution Approach 1:
The actuator is pre-configured with standardized interfaces and mounting mechanisms that allow for quick attachment and detachment of different continuum arms and heads. This preliminary preparation of the interface system enables rapid reconfiguration without time-consuming setup procedures.
Solution Approach 2:
The system employs dynamic reconfiguration capabilities where the actuator can quickly switch between different arm configurations and end effectors during operation, allowing the operator to adapt to different tasks without extended setup times.
3Adaptability or versatility
If multiple different continuum arm robots are used for different tasks, then task versatility is improved, but cost increases
Solution Approach 1:
The universal actuator serves as a shared resource that can operate with multiple different continuum arm configurations and end effectors. This eliminates the need to purchase and maintain multiple separate robot systems, significantly reducing the quantity of hardware required while maintaining full task versatility.
Solution Approach 2:
The patent combines multiple functional capabilities into a single actuator platform that can support various arms and heads. By merging the control system, power supply, and actuation mechanisms into one universal unit, the system reduces the total number of components needed.
Data Source
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AI summary
A universal actuator for driving a continuum arm robot having a plurality of tendons, the universal actuator comprising; a housing; a power supply pack comprising a power source; a control pack comprising an industrial programmable logic controller, a screen, a rotary encoder linked to an analogue input device a digital output device, a plurality of electronic control cards that connect the programmable logic controller to a user input device, the rotary encoder and an actuator pack for controlling the motion of the continuum arm robot, the programmable logic controller or the screen having a computer program to allow for set up and control of the continuum arm robot; wherein the actuator pack is coupled to an electronic control card that is linked to the control pack, the actuator pack comprising a plurality of actuators, each actuator being coupled to its own load cell and servo drivers; the actuator pack has a connection port, the connection port having a hole through which tendons of the continuum arm robot pass through in order to be connected to their associated actuator and a coupler for allowing secure attachment and removal of the continuum arm robot; and each actuator of the plurality of actuators has a removable attachment of the tendons of the continuum arm robot.