Modular Robot Joint Module Adds Degrees of Freedom
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Solution Overview
Problem
Conventional robots with redundant designs, such as seven- or multi-axis robots, are often uneconomical for applications that do not require such complexity, and they are not easily adaptable or expandable to meet varying operational needs.
Innovation Solution
A modular robotic system that includes a robotic arm with at least five degrees of freedom and a robot joint module that adds an additional pivot axis, allowing the end-effector to have up to seven degrees of freedom. This modular design enables the expansion of standard five-axis robotic arms into more versatile six- or seven-axis robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is designed with redundant joints (seven- or multi-axis), then the robot can achieve the same end-effector pose in different positions and circumvent obstacles, but the robot becomes uneconomical for applications that do not require such redundancy
Solution Approach 1:
The robot system is divided into a standard five-axis robotic arm and a separate joint module that can be selectively attached. This segmentation allows the base robot to remain simple and cost-effective while enabling redundancy only when needed through the optional joint module.
Solution Approach 2:
The system transitions from a static five-axis configuration to a dynamic six- or seven-axis configuration by selectively activating the joint module. The robot can adapt its degrees of freedom based on task requirements, maintaining simplicity for basic applications while achieving redundancy for complex tasks.
2Adaptability or versatility
If a robot is designed with fixed redundant joints, then the robot can operate in tightly limited environments, but the robot cannot be easily adapted or expanded to meet varying operational needs
Solution Approach 1:
The robot is segmented into a modular architecture where the joint module is a separate, interchangeable component. This allows easy expansion from five-axis to six- or seven-axis configurations by simply attaching or removing the joint module, without redesigning the entire robot system.
Solution Approach 2:
The joint module is designed as a universal component that can be attached to standard five-axis robotic arms to provide additional degrees of freedom. This multi-functional design allows the same base robot to serve multiple applications, from simple five-axis tasks to complex six- or seven-axis tasks requiring redundancy.
3Manufacturing precision
If a robot uses at least five degrees of freedom, then the robot can approach end-effector poses with sufficient precision, but the robot lacks the redundancy needed to circumvent obstacles and operate in tightly limited environments
Solution Approach 1:
The system dynamically adjusts its degrees of freedom by selectively activating the joint module. For tasks requiring only precision, the five-axis configuration is used. For tasks requiring obstacle circumvention and versatility in tightly limited environments, the joint module is activated to provide additional redundancy.
Solution Approach 2:
The robotic system is segmented into a core five-axis arm and an optional joint module. This segmentation allows the system to maintain precise five-axis control for basic operations while enabling enhanced versatility and redundancy when needed, without the permanent complexity of a fixed seven-axis design.
Data Source
AI summary
A robot has a robotic arm, including a base with a base contact surface and an end-effector that is connected to the base by joints which can be adjusted by robotic arm joint drives such that the end-effector has at least five, and in particular at least six, actuated degrees of freedom with respect to the base. The robot further includes a robot joint module with a first contact surface that can be fastened—in particular, releasably—to the base contact surface, a second contact surface for fastening the robot to a stationary environment or mobile platform, and at least one robot joint module drive for pivoting the first contact surface relative to the second contact surface about a pivot axis, so that the end-effector has at least six, and in particular at least seven, actuated degrees of freedom with respect to the second contact surface, and in particular with respect to the stationary environment or mobile platform.