Remote Manipulation Arm Segmentation for Large Rotation
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Solution Overview
Problem
Existing remote manipulation arms have limited movement capabilities due to mechanical constraints, restricting the slave arm's ability to perform large rotations and causing operator fatigue, as they lack effective force feedback and are hindered by weight distribution issues.
Innovation Solution
The remote manipulator arm separates the master and slave arms, eliminating direct mechanical transmission and using an interface system with motors and a cable winder to enable large rotations of the slave arm, while maintaining force feedback control through a control and power portion with a rotating drum and gear transmission, allowing for increased workspace and reduced operator fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the master arm and slave arm are directly connected with continuous mechanical transmission, then the structure is simple and direct control is achieved, but the operator experiences fatigue due to direct force transmission and the slave arm has limited movement range
Solution Approach 1:
The system is divided into two independent parts: the master arm held by the operator and the slave arm in the hostile medium, connected through an interface system rather than direct mechanical linkage. This segmentation eliminates direct force transmission to the operator while maintaining control capability.
Solution Approach 2:
An interface system comprising a control portion and power portion acts as an intermediary between the master and slave arms. The control portion detects master arm movements and the power portion reproduces them on the slave arm, mediating the control transmission without direct mechanical connection.
2Adaptability or versatility
If the slave arm is allowed to pivot by large angles to increase workspace, then the movement range is improved, but the weight of the slave arm produces antagonist moments that hinder the operator's control
Solution Approach 1:
The interface system provides feedback control where the control portion detects the position and movement of the master arm and the power portion adjusts the slave arm's position accordingly. This feedback mechanism compensates for the antagonist moments produced by the slave arm's weight during large-angle pivoting.
3Adaptability or versatility
If the master arm and slave arm are separated into two portions with an interface system, then the slave arm can perform large rotations without operator fatigue, but the direct mechanical transmission and force feedback are lost
Solution Approach 1:
The direct mechanical transmission system is replaced with an electronic control system. The control portion uses sensors to detect master arm movements and the power portion uses motors to reproduce these movements on the slave arm, substituting mechanical force feedback with electronic control signals.
4Adaptability or versatility
If motors and transmission systems are added to the slave arm to enable large rotations, then the movement capability is improved, but the device complexity and weight increase
Solution Approach 1:
The motors and transmission systems are merged into a compact power portion that interfaces with the slave arm. The stationary motor and transmission mechanism are integrated with the drum and cable winder system, combining multiple functions into a unified compact structure.
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 design allows for significant improvements in movement range and workspace height of the slave arm, reducing operator fatigue and enabling more precise control with force feedback, enhancing operational capabilities and comfort.
Implementation Method 1
a stationary motor (15) and a transmission (16)... the winder (32) comprises a free circular-arc-shaped part (34) between the drum (14) and a cylindrical portion of the casing (13)
Implementation Method 2
the winder (32) comprises a free circular-arc-shaped part (34) between the drum (14) and a cylindrical portion of the casing (13), the electrical cables (36) being attached to a point of the drum and to a point of said cylindrical portion
Data Source
AI summary
A remote manipulation arm comprising a master arm (5) mechanically separated from a slave arm (1) with the slave arm comprising a tubular segment and a manipulation tool 12 at one end thereof and further comprising an interface system including a control portion (7) and a mechanical power portion (8) for driving the slave arm (1) through a mechanical transmission (26,27) of the slave arm wherein the mechanical power portion (8) comprises a stationary motor, a stationary casing, a drum attached to the tubular segment and a transmission capable of rotating the tubular segment (3) and wherein the remote manipulation arm further comprises a winder (32) of electrical cables leading to control motors and a circular arc shaped part between the drum and a cylindrical portion of the stationary casing.