Orthogonal Axis Robot Arm for Compact Overlapping Motion
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Solution Overview
Problem
Existing robot systems with articulated arms require significant space to avoid interference, limiting their compactness and efficiency in tasks like assembly and object manipulation.
Innovation Solution
A robot system with a multi-membered arm configuration where each member is rotatably positioned on the previous one, allowing for orthogonal rotation axes and overlapping states that reduce the necessary space while increasing the range of motion without interference, enabling more compact and efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a conventional robot arm configuration is used with sequential arm members, then the robot can perform basic manipulation tasks, but a large space is required to prevent interference between arm members during operation
Solution Approach 1:
The patent applies nesting by allowing the fourth member's arm to be positioned within the spatial envelope formed by the first three members. Specifically, the fourth member is configured to rotate about an axis that is orthogonal to the first member's rotation axis, enabling it to operate in the distal end region of the first member without requiring additional lateral space. This nested configuration reduces the overall footprint while maintaining full range of motion for all members.
Solution Approach 2:
The patent introduces a new rotational dimension by making the fourth member's rotation axis orthogonal to the first member's rotation axis. This dimensional change allows the fourth member to move in a direction that does not conflict with the first three members, effectively utilizing three-dimensional space more efficiently. The orthogonal axis configuration enables the distal end of the robot arm to access regions that would otherwise require larger horizontal clearance.
2Area of stationary object
If the robot arm members are arranged to overlap in certain states, then the space for preventing interferences is reduced, but the complexity of the arm configuration increases
Solution Approach 1:
The patent segments the robot arm into four distinct members with clearly defined rotational axes and functional regions. The first three members handle primary positioning, while the fourth member operates independently in the distal end region with its orthogonal rotation axis. This segmentation allows each member to have a specialized function, reducing the need for complex coordination mechanisms while achieving compact overlapping configuration.
Solution Approach 2:
By introducing the orthogonal rotation axis for the fourth member, the patent adds a dimensional degree of freedom that simplifies the overall configuration. Instead of requiring complex articulated joints to achieve compactness, the orthogonal axis allows the fourth member to naturally overlap with the first three members in a straightforward manner, reducing mechanical complexity while maintaining compactness.
Data Source
AI summary
A robot includes a robot arm having a first member rotatably provided on a base, a second member rotatably provided on the first member, a third member rotatably provided on the second member, and a fourth member rotatably provided on the third member. The fourth member has an arm rotatable about a rotation axis in an axis direction different from an axis direction of a rotation axis of the first member with respect to the base. In a first state, the first member, the second member, and the third member overlap. In a second state, at least one of a distal end of the robot arm and an end effector provided on the distal end of the robot arm overlaps with the second member.