Pressurized Membrane Manipulator Arm for High Rigidity
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Solution Overview
Problem
Current industrial robots and manipulators face limitations due to their rigid metal construction, leading to high weight, low movement speed, and inaccuracies, with existing solutions like changing kinematic structures or materials only partially addressing the issue of achieving a favorable rigidity-to-weight ratio and requiring metal components for joints and drives, which can cause damage in applications like press machines.
Innovation Solution
A manipulator arm composed of a membrane filled with a medium of higher or lower pressure than the ambient environment, equipped with flexible joints and drives, allowing for increased rigidity-to-weight ratio, deformability, and separation of tension and compression stresses, using fiber composites and fillers that prevent air or medium penetration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If metal components are used for manipulator arms, then strength and rigidity are improved, but weight increases and rigidity-to-weight ratio deteriorates
Solution Approach 1:
The patent applies composite materials by combining a membrane structure filled with pressurized medium with reinforcing elements (ropes, fibers, or rigid inserts) positioned at specific locations. This creates a composite construction where the membrane provides lightweight flexibility while the reinforcing elements provide targeted strength and rigidity, achieving high strength-to-weight ratio without using traditional metal components throughout the entire structure.
Solution Approach 2:
The patent uses a membrane as the primary structural element instead of rigid metal shells. The membrane is filled with pressurized medium (gas or liquid) to provide structural support and rigidity when needed, while maintaining low weight. The membrane can be made of flexible materials that deform under load rather than breaking, providing both strength and weight efficiency.
2Stability of the object's composition
If rigid metal structure is used, then structural stability is improved, but movement speed and acceleration deteriorate
Solution Approach 1:
The patent implements dynamics by using a membrane structure that can change its rigidity characteristics during operation. The pressurized medium inside the membrane provides structural stability when needed, while the flexible nature of the membrane allows for faster acceleration and deceleration compared to rigid structures. The structure adapts its mechanical properties dynamically rather than being statically rigid throughout.
Solution Approach 2:
The patent changes physical parameters by using pressurized medium (gas or liquid) within the membrane structure. The pressure of the medium can be adjusted to modify the structural characteristics of the manipulator arm, allowing optimization between stability and speed depending on operational requirements. This parameter change enables the structure to be stiffer when supporting loads but more compliant during rapid movements.
3Strength
If metal components are used for joints and drives, then mechanical strength is improved, but risk of damage in collisions increases
Solution Approach 1:
The patent converts the potential harm of rigid metal components causing damage during collisions into a benefit by using a membrane structure that can deform and absorb impact energy. When collision occurs, the membrane structure yields and deforms rather than transmitting high impact forces to surrounding components, protecting both the manipulator and external objects from damage. The pressurized medium provides structural integrity during normal operation but allows controlled deformation during abnormal events.
4Weight of moving object
If parallel kinematic structure is used, then rigidity to weight ratio is improved, but achievable working area to area occupied ratio deteriorates
Solution Approach 1:
The patent uses flexible membrane structures that can bend and deform to reach positions that would be difficult or impossible for rigid parallel kinematic structures. The membrane arms can wrap around obstacles and access narrow spaces while maintaining structural integrity through the pressurized medium, thereby increasing the achievable working area relative to the physical footprint of the manipulator base.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enhances the rigidity-to-weight ratio, allows for flexible joints without clearance or hysteresis, and reduces the risk of damage in collisions, while enabling precise control and measurement of the end effector's position, effectively addressing the limitations of existing technologies.
Implementation Method 1
a member of the manipulator arm is created of a membrane the cavity of which is filled with medium of higher or lower pressure regarding the ambient environment
Implementation Method 2
The fixed swivel joint is equipped with a rotary drive or a sliding drive and the sliding guide is equipped with a drive
Implementation Method 3
the sliding guide is equipped with a drive
Data Source
Figure 1~3
Figure 4~7
Figure 8~11
AI summary
The subject matter of the invention is the manipulator containing an arm consisting of at least one member movably connected to a frame, where a member of the manipulator arm is created by a membrane (2) the cavity of which is filled with medium of higher or lower pressure with respect to the ambient environment and is equipped with a joint for connecting to another member or the frame (22). A member of the manipulator arm is the element (1) filled with medium of higher pressure than the pressure of ambient environment and/or the element (6) filled with medium of lower pressure than the pressure of ambient environment with cavity filled with reinforcing elements (7). The membrane (2) is equipped with at least one place of curvature change (4) and/or a place of rigidity change (5) which creates a flexible joint.