Modular Robotic Manipulator Segmentation for Task Adaptability
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Solution Overview
Problem
Existing robotic arms lack flexibility and adaptability in performing tasks on complex and varying workpieces, as they are often limited by fixed configurations and degrees of freedom, making them inefficient for tasks requiring multiple orientations and movements.
Innovation Solution
A modular robotic device with interchangeable rigid segments and joint portions, connected by data and power transmission cables, allowing for customizable configurations and increased degrees of freedom, enabling the robotic manipulator to adapt to different tasks and workpiece geometries through a computerized control system that models and generates optimal movement trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic arm uses a fixed configuration with limited degrees of freedom, then the device complexity is reduced and manufacturing is easier, but the adaptability to perform complex tasks on varying workpieces deteriorates
Solution Approach 1:
The robotic manipulator is divided into multiple modular rigid segments that can be selectively connected and disconnected. Each segment includes standardized joint portions that enable interchangeable configurations. This segmentation allows the system to achieve high adaptability by reconfiguring the number and arrangement of segments while maintaining manageable complexity through standardization.
Solution Approach 2:
The robotic manipulator transitions from a fixed configuration to a dynamic, reconfigurable structure. The joint portions enable the segments to be assembled in various combinations and orientations, allowing the degrees of freedom to be adjusted based on task requirements. This dynamic reconfigurability resolves the contradiction by enabling adaptability without permanent increases in device complexity.
2Adaptability or versatility
If the robotic manipulator includes more degrees of freedom to navigate complex spaces, then the adaptability improves, but the device complexity and difficulty of control increase
Solution Approach 1:
The manipulator is segmented into standardized modules with identical joint portions, allowing the degrees of freedom to be systematically adjusted by changing the number of segments rather than designing custom mechanisms for each degree of freedom. This modular approach manages control complexity through standardization.
Solution Approach 2:
The standardized joint portions and modular segments create a universal interface that can be configured for multiple tasks. The same basic components serve multiple functions depending on their arrangement, reducing the need for specialized control mechanisms for each degree of freedom and thereby managing control complexity.
3Ease of operation
If the robotic arm is designed with interchangeable modular segments, then the adaptability and ease of reconfiguration improve, but the device complexity increases
Solution Approach 1:
The manipulator is divided into identical modular segments with standardized connection interfaces. This segmentation enables easy reconfiguration through simple attachment and detachment operations while managing complexity through replication of standardized components rather than unique custom parts.
Solution Approach 2:
The system manages complexity by changing parameters such as the number of segments and their arrangement rather than changing the fundamental design of individual components. The standardized joint portions allow configuration variations through parameter changes (number, order, orientation of segments) while maintaining the same basic component design, thereby facilitating ease of reconfiguration without proportionally increasing device complexity.
Data Source
AI summary
A modular robotic device is provided. The modular robotic device includes a robot base and a robotic manipulator connected to the robot base and operable to articulate a tool device connected to an end of the robotic manipulator. The robotic manipulator includes a plurality of modular rigid segments, wherein each of the plurality of modular rigid segments includes a joint portion and each operable to be selectably connected to the robotic manipulator. The plurality of modular rigid segments is interchangeable and operable to be assembled in various combinations.