Multi-Axis Arm Joint Layout for Compact Folding and Greater Reach
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Solution Overview
Problem
Existing mechanical arms lack the ability to be both compactly foldable and have a large range of motion, as lengthening arm parts to achieve a larger range results in reduced compactness, and current arm joints do not offer sufficient configurability to achieve desired degrees of freedom.
Innovation Solution
An arm joint design featuring three coupling parts with specific rotational axes and a drive assembly that allows for independent energization of rotations, enabling the arm to fold compactly while achieving a greater reach than the sum of its parts, and allowing for modular configuration of degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If arm parts are lengthened to obtain a large range, then the range of motion is improved, but the arm becomes less compactly foldable
Solution Approach 1:
The arm joint is designed with nested coupling parts where the first coupling part, second coupling part, and third coupling part are arranged concentrically around common rotation axes. This nesting allows multiple rotational degrees of freedom to be achieved within a compact radial space, enabling the arm to fold compactly while maintaining a large range of motion through multi-axis rotation capabilities.
2Adaptability or versatility
If the number of degrees of freedom is increased to improve flexibility, then the configurability is improved, but the device complexity increases
Solution Approach 1:
The arm joint is designed as a universal coupling mechanism where the first coupling part, second coupling part, and third coupling part can each rotate independently around different axes (first axis, second axis, and third axis respectively). This multi-functional design allows the same joint structure to provide multiple rotational degrees of freedom, enabling flexible configuration of n degrees of freedom in the mechanical arm without requiring fundamentally different joint designs for each DOF.
Data Source
AI summary
An arm joint is provided with a first coupling part with a first axis and a second coupling part with a second axis. Further, the arm joint includes a third coupling part connected in a manner rotatable around a third axis with the first coupling part. The third axis includes an angle with the first axis in the range of 30-60 degrees, preferably of 45 degrees. The third coupling part is connected in a manner rotatable around a fourth axis with the second coupling part. The fourth axis includes an angle with the second axis in the range of 30-60 degrees, preferably of 45 degrees. The third and the fourth axis mutually include an angle in the range of 60-120 degrees, preferably of 90 degrees. A robot arm with a number, preferably three, of such arm joints is also disclosed.