Modular Robotic Arm With Differential Joints and Internal Cable Routing
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Solution Overview
Problem
Existing robotic arms lack modularity and efficient cable management, leading to increased complexity and reduced flexibility in customization and installation, especially when separate controllers and cabling systems are used.
Innovation Solution
The development of modular robotic arms with differential joints and a centralized controller, allowing for standardized interfaces and integrated cable routing through the arm segments, enabling both hinged and rotary motion and facilitating customization and efficient data and power connections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If separate controllers and cabling systems are used, then functional flexibility is improved, but device complexity and installation complexity increase
Solution Approach 1:
The controller is integrated into the base section of the robotic arm, merging the control system with the mechanical structure. This consolidation reduces the number of separate components and simplifies the overall system architecture while maintaining full control functionality.
Solution Approach 2:
The base section serves multiple functions: it houses the controller, provides structural support, and acts as the mounting point for the robotic arm segments. This multi-functionality reduces the need for separate dedicated components.
2Adaptability or versatility
If separate controllers and cabling systems are used, then functional flexibility is improved, but installation complexity increases
Solution Approach 1:
The controller and cabling system are merged into the base section structure. The controller is mounted within the base, and cables are routed through pre-defined paths within the base section, eliminating the need for separate external mounting and complex external cable management.
3Ease of manufacture
If modular sections are used with common tooling flanges, then ease of manufacture and customization are improved, but cable management complexity increases
Solution Approach 1:
Cables are routed through the hollow interior of the arm segments, nesting the cable management system within the structural components. The arm segments are designed with internal passages that guide cables from one joint to the next, eliminating external cable routing.
Solution Approach 2:
The arm segments themselves act as intermediaries for cable routing. The segmented structure provides built-in cable conduits that connect different joints and the end effector, simplifying cable management compared to external routing.
4Adaptability or versatility
If differential joints with two motors are used, then motion capability is improved, but device complexity increases
Solution Approach 1:
The joint is divided into two independent motor systems, each responsible for one degree of freedom (hinge or rotary motion). This segmentation allows each motor to be controlled independently while working together to achieve complex motion, reducing control complexity compared to a single motor system.
Data Source
AI summary
Modular robotic arms include modular sections with a joint and arm segment. In some examples, the modular sections may connect to each other using common tooling flanges, such as a standard robotic interface for an end effector. In the same or different examples, a robotic arm controller is located in a base or other section for the robotic arm. In the same or different examples, a robotic arm joint includes a differential gear with two motors. Coordinated control of the two differential joint motors facilitates both hinge and rotary motion for the joint.