Modular Robotic Manipulator Quick-Change Assembly
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Solution Overview
Problem
Conventional robotic systems face challenges in efficiently swapping and reconfiguring manipulators for different tasks, which is time-consuming, complex, and often requires manual intervention, leading to sub-optimal performance and increased costs.
Innovation Solution
A modular robotic system with soft actuators that can be dynamically reconfigured by adjusting parameters such as position, orientation, and arrangement, using mechanisms like rails, magnets, and interlocking tiles, allowing for rapid adaptation to various grasp targets and environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manipulators are fixed or interchangeable, then the robot can perform specific tasks, but swapping manipulators is time-consuming and complex
Solution Approach 1:
The robotic system is divided into modular components where the manipulator is separated from the base robot. This segmentation allows the manipulator to be independently swapped or reconfigured without affecting the entire robot system, enabling rapid task changes.
Solution Approach 2:
The base robot is designed with universal mounting interfaces and control systems that can accommodate multiple types of manipulators. This universality allows a single robot platform to perform multiple tasks by simply changing the attached manipulator module.
2Adaptability or versatility
If manipulators are manually reconfigured, then the system can adapt to different tasks, but the process is complex and expensive
Solution Approach 1:
The system incorporates automated control systems that can independently manage manipulator selection, attachment, and configuration based on task requirements. This self-service capability reduces the need for manual intervention and complex reconfiguration procedures.
Solution Approach 2:
Multiple manipulator types are pre-configured and stored on the robot platform. When a task change is required, the system can quickly switch between pre-prepared manipulators without requiring complex on-the-fly reconfiguration or manual assembly.
3Device complexity
If a single manipulator is used for multiple tasks, then the system is simpler, but the manipulator is sized and configured sub-optimally for different objects
Solution Approach 1:
Different manipulator modules are designed with specific local qualities optimized for particular task types. For example, some manipulators may have grippers optimized for spherical objects while others are designed for cylindrical objects, allowing each manipulator to excel at its intended function.
Solution Approach 2:
The system can dynamically change manipulator parameters such as gripper size, finger configuration, or end-effector type based on the specific task and object being manipulated. This allows optimal configuration selection without permanently fixing the manipulator design.
4Productivity
If manipulators are deployed in predetermined groups, then the system can handle multiple parts simultaneously, but the configuration is difficult to change
Solution Approach 1:
The multi-manipulator system is divided into independent modular units that can be individually attached or detached. This segmentation allows the system to maintain parallel processing capability while enabling flexible reconfiguration by adding, removing, or repositioning individual manipulator modules based on task requirements.
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 2A~2C
AI summary
A modular robotic system comprising: a first soft actuator comprising an elastomeric bladder configured to receive an inflation fluid; and a quick-change assembly for replacing the actuator with a different type or size of actuator, the quick-change assembly comprising two or more mating surfaces that corresponding to a shape of the actuator and mate to form a seal around the actuator.