Reconfigurable Robot End-Effector with Cam Lock Branches
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Solution Overview
Problem
Conventional robot end-effector designs face challenges with respect to packaging size, adjustability, and weight due to suboptimal interconnection and power routing of limbs and branches, limiting their effectiveness in manufacturing processes.
Innovation Solution
The use of lightweight tandem branch joint assemblies with cam locks and a configuration tool for quick locking/unlocking and repositioning of branches, along with a flexible dress package that routes conduits without carrying structural loads, enhances adjustability and reduces weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If conventional interconnection designs are used for limbs and branches, then structural strength is maintained, but packaging size increases and weight increases
Solution Approach 1:
The end-effector is divided into modular components (limbs, branches, tool modules) that can be independently configured and connected through standardized interfaces. This segmentation allows for compact packaging while maintaining structural integrity through proper modular connection design.
Solution Approach 2:
Branches and tool modules are designed to nest within or alongside limbs when not in use, significantly reducing the overall packaging volume. The hierarchical structure allows smaller components to be accommodated within the framework of larger components.
2Productivity
If manual adjustment of tool modules is used, then positioning accuracy is achieved, but time consumption increases
Solution Approach 1:
The system includes automated configuration tools that can self-position and self-lock branches and tool modules into correct configurations without requiring manual measurement and adjustment, dramatically reducing reconfiguration time.
Solution Approach 2:
Multiple pre-configured branch positions and tool module orientations are built into the design, allowing the configuration tool to quickly select and engage pre-determined optimal positions rather than requiring de novo positioning for each configuration.
3Weight of moving object
If rigid dress packages are used for routing conduits, then structural support is provided, but weight increases and flexibility decreases
Solution Approach 1:
The dress package uses flexible conduits and hoses instead of rigid piping for routing pneumatic tubes and electrical cables. These flexible elements maintain necessary stability and protection while significantly reducing weight and enabling greater movement flexibility.
Solution Approach 2:
The structural support function is extracted from the dress package and assigned to the rigid limb and branch structures, allowing the dress package itself to be optimized for flexibility and lightness rather than bearing structural loads.
4Adaptability or versatility
If fixed configuration of branches is used, then manufacturing precision is maintained, but adaptability decreases
Solution Approach 1:
The end-effector transitions from a fixed configuration to a dynamically reconfigurable system where branches and tool modules can be adjusted to multiple predetermined positions. The cam-lock mechanisms ensure that once positioned, each component is securely locked to maintain manufacturing precision during operation.
Solution Approach 2:
The standardized interfaces and modular design allow the same limb and branch components to serve multiple functions and be configured for different tool modules, enhancing adaptability while maintaining precision through consistent interface design.
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
This solution enables quick and efficient reconfiguration of end-effector assemblies, improving packaging efficiency, adjustability, and reducing weight, thereby enhancing their performance in manufacturing processes.
Implementation Method 1
The pair of cam locks forms an eccentric joint enabling relatively quick locking/unlocking and repositioning of the various branches of an end-effector assembly
Data Source
AI summary
A reconfigurable end-effector assembly includes a master boom, a limb, and branches. The branches extend radially outward from the limb. Tandem branch joint assemblies connect the branches to the limb, and include a first and a second branch joint each having a cam lock. Tool modules mounted to the branches are translatable and rotatable with respect to the branches. The joint assemblies rotate and slide with respect to the longitudinal axis of the limb only when the cam lock is released. A configuration tool has an actuator and fingers. The branch joints define openings that are engaged via the fingers. The tool includes a latch which engages the cam lock, and clamps and unclamps the cam lock. A flexible dress package is mountable to the limb and configured to route lengths of conduit to each of the tool modules.