Reconfigurable Cable Robot Movable Anchors
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Solution Overview
Problem
Cable robots with three-dimensional anchor distributions face challenges in maximizing their working volume due to collisions and stability issues, as existing methods for optimizing anchor positioning are not feasible in complex environments and introduce parasitic twisting in cables.
Innovation Solution
A reconfigurable cable robot system with movable anchors and pulley-based winches that use a nut engaged on the drum's guide thread to maintain cable tension and orientation, allowing for three-dimensional reconfiguration and avoiding parasitic twisting, while also enabling the transfer of energy and information through cables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If cables are used to position and move the platform in a large working volume, then the working volume is significantly increased, but collisions between cables themselves and with objects in the environment occur
Solution Approach 1:
The patent implements movable anchors that can dynamically reposition themselves in three-dimensional space, allowing the cable robot to adapt its configuration to avoid collisions while maintaining access to the full working volume. The anchors move along guide threads on winch drums, enabling real-time adjustment of cable routing paths.
Solution Approach 2:
The patent transitions from planar anchor arrangements to three-dimensional anchor distributions, allowing cables to be routed through multiple spatial dimensions. This enables the system to access complex trajectories and avoid collisions by utilizing vertical and lateral spacing that would not be available in two-dimensional configurations.
2Ease of operation
If mobile anchors are implemented with actuators and guide threads, then cable routing is optimized, but parasitic twisting of cables occurs
Solution Approach 1:
The patent introduces orientation pulleys as intermediary elements between the winch drums and the cables. These pulleys ensure that cables are guided smoothly without twisting by maintaining proper alignment and direction as they wrap around the drums, eliminating parasitic twisting while preserving the benefits of movable anchors.
3Adaptability or versatility
If three-dimensional anchor distribution is used, then complex trajectories can be achieved, but the system complexity increases
Solution Approach 1:
The patent creates a universal anchor system where each anchor can serve multiple functions: it can be positioned at different locations in three-dimensional space, oriented in different directions, and used for different trajectory requirements. The movable anchors with guide threads provide a multi-functional solution that reduces overall system complexity compared to having fixed, specialized anchors for each function.
4Ease of manufacture
If planar anchor configurations are used, then installation is simplified, but the working volume is limited
Solution Approach 1:
The patent transforms static, planar anchor configurations into dynamic, three-dimensional arrangements. The movable anchors can be positioned and repositioned along guide threads to create optimal configurations for different tasks, enabling the system to achieve large working volumes while maintaining installation simplicity through standardized movable anchor components.
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 system effectively increases the non-collision work volume, ensures stable platform positioning, and optimizes cable routing to prevent twisting, allowing for efficient operation in congested environments and complex trajectories.
Implementation Method 1
A reconfigurable cable robot system with movable anchors and pulley-based winches that use a nut engaged on the drum's guide thread to maintain cable tension and orientation
Implementation Method 2
A reconfigurable cable robot system with movable anchors and pulley-based winches
Implementation Method 3
The stability of the platform in a given position is ensured by its static balance, which balance is achieved by the tension of the cables which act so as to oppose the external forces to which said platform is subjected
Data Source
Figure 1~2B
Figure 3~4B
Figure 5A~5B
AI summary
The invention relates to a device (100) for the movement and orientation in space of a platform (120) carrying an effector, which device comprises: i. a plurality of cables (130) extending between an attachment point (121) on the platform and an anchorage (111, 112) linked to a structure (110) fixed in space, the positions of the anchorages not being contained in the same plane; ii. a set of cables, called the drive assembly, one end of each cable being fixed to a motorized winch (111) for winding and unwinding the cable on said winch; which device comprises: iii. a set of cables, called the reconfigurable assembly, whose attachment points (121) or anchorages (112) are capable of being moved relative to the platform (120) or in the fixed structure (110). The invention also relates to a method for implementing such a device.