Reconfigurable Walking Robot for Confined Space Machining
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robots used for machining and processing tasks on large structures face challenges such as limited mobility, difficulty in reaching confined spaces, and reduced accuracy due to compliance issues in connecting the workpiece to the robot base.
Innovation Solution
A novel walking parallel robot with a 3PRRR or 3PRPR joint topology, capable of performing three-axis machining/processing tasks, is proposed. This robot can reconfigure to perform five-axis or six-axis tasks and features a symmetric geometry that maintains tool orientation perpendicular to the workpiece surface without extra effort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a large machine/robot is used for machining tasks, then machining capability is improved, but mobility and ability to reach confined spaces deteriorates
Solution Approach 1:
The robot is divided into multiple modular segments including a base module, intermediate modules, and end-effectors. These modules can be connected or disconnected to reconfigure the robot's structure, enabling it to adapt to different workspace constraints and maintain machining capability while improving mobility in confined spaces.
Solution Approach 2:
The robot employs dynamic reconfiguration capability where the number and arrangement of modules can change during operation. This allows the system to transition between different configurations optimized for either machining precision or mobility depending on the task requirements, resolving the contradiction between fixed large structure and confined space access.
2Stability of the object's composition
If the robot base is docked on the ground, then stability is improved, but compliance of connecting bodies affects machining accuracy
Solution Approach 1:
The patent introduces compliant connecting bodies as intermediaries between the robot base and the tool holder. These compliant connectors act as mediators that absorb vibrations and deformations, preventing them from affecting the machining interface. This allows the robot to maintain stability through ground docking while eliminating the negative impact of compliance on machining accuracy.
3Manufacturing precision
If a fixed large structure is used, then machining capability is improved, but adaptability to different locations and configurations deteriorates
Solution Approach 1:
The robot system is designed with universal modules that can perform multiple functions. The base module can dock in various locations, the intermediate modules can be arranged in different configurations, and the end-effectors can accommodate different tools. This multi-functionality enables the system to maintain machining capability across diverse applications while achieving high adaptability to different locations and configurations.
Data Source
AI summary
A robotic device is described. The robotic device includes segments and arms connected to a platform. A machining or another processing tool can be coupled to the platform. The segments can have one end attached to the platform and the other end attached to an attachment device. The attachment device can include an attachment surface/mechanism that can attach to a workpiece.