Modular Robotic Arms with Reconfigurable Interfaces
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Solution Overview
Problem
Existing robotic arms for hazardous environments, such as space, require complex control systems and are not easily reconfigurable or maintainable, making them costly and inefficient for tasks that evolve or require frequent module replacements.
Innovation Solution
A modular robotic arm system with interchangeable structural modules and end effectors, allowing reconfiguration by other robotic arms to replace, add, or reposition modules, enabling autonomous maintenance and adaptation to changing mission requirements without the need for redundant systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic arm is designed with fixed structural modules for hazardous environments, then reliability is improved, but adaptability deteriorates
Solution Approach 1:
The robotic arm is divided into discrete structural modules that can be independently replaced or reconfigured. Each module can be individually serviced or swapped without affecting the entire system, enabling maintenance in hazardous environments while maintaining system reliability.
Solution Approach 2:
The robotic arm transitions from a fixed configuration to a dynamically reconfigurable system where modules can be added, removed, or replaced during operation. This allows the system to adapt to changing mission requirements while maintaining reliability through proven module designs.
2Adaptability or versatility
If a robotic arm uses interchangeable modules for reconfiguration, then adaptability is improved, but device complexity deteriorates
Solution Approach 1:
Standardized interfaces are implemented across all structural modules, allowing the same connection mechanism to serve multiple functions: mechanical attachment, electrical connectivity, and data communication. This universality enables reconfiguration without proportionally increasing system complexity.
Solution Approach 2:
The robotic arm uses homogeneous module designs with identical interface standards, allowing any module to replace any other module of the same type. This reduces the complexity of managing diverse components while maintaining reconfigurability for different mission requirements.
3Reliability
If redundant systems are implemented for reliability in hazardous environments, then reliability is improved, but weight deteriorates
Solution Approach 1:
Instead of carrying redundant backup systems, the design allows individual modules to be discarded (removed) and replaced as needed. Failed or worn modules are exchanged for fresh ones, providing reliability without the permanent weight penalty of redundant systems.
Solution Approach 2:
The robotic arm employs replaceable structural modules that can be individually serviced or replaced rather than requiring entire system redundancy. This approach provides reliability through module replacement rather than through heavy redundant backup systems.
Data Source
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AI summary
The present invention relates to a system of a plurality of robotic arms. Each robotic arm is of the modular type and for use in a space environment. Each robotic arm is associated with at least one base fixing linked to a space platform and has at least one operational configuration. Each robotic arm comprises, in each operational configuration: a plurality of structural modules, one of the plurality of structural modules being connected to the base fixing, and at least one end effector configured to perform at least one operation and connected to one of said plurality of structural modules. Each of the plurality of structural modules comprises at least two interfaces such that a first interface is configured to connect each of the plurality of structural modules to one adjacent structural module or to the base fixing, and a second interface is configured to connect each of the plurality of structural modules to another adjacent structural module or to said end effector. In each configuration, the plurality of structural modules of each robotic arm is reconfigurable by another of the robotic arms in the space environment. Each of the plurality of structural modules comprising at least one external compatible attachment area compatible with said end effector. The present invention also relates to a method of assembling a robotic arm in a hazardous environment and reconfiguring a robotic arm in a hazardous environment.