Rigid-Flexible Continuum Robot Unit With Clamping-Boss Torsion Limits
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Solution Overview
Problem
Existing continuum robots face limitations in torsion resistance, load bearing capacity, and the inability to accommodate operating devices due to structural designs that compromise flexibility and functionality.
Innovation Solution
A rigid-flexible coupled continuum robot unit featuring a clamping jaw and boss structure that enhances torsion resistance and load bearing capacity, with a nickel-titanium rod framework and through holes for operating devices, allowing for accurate kinematic modeling and multiple degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional double-core column structure is used, then the robot can achieve flexible deformation, but the torsion resistance capacity and load bearing capacity are insufficient
Solution Approach 1:
The patent employs a composite structure combining rigid components (clamping jaws, bosses, drive shafts) with flexible elements (spring plates, flexible joints). This rigid-flexible composite design allows the robot to maintain flexibility for deformation while the rigid components provide enhanced torsion resistance and load bearing capacity through their structural integrity and geometric design.
Solution Approach 2:
The patent utilizes curved arc surfaces on the clamping jaws and bosses that work together through arc contact. This curved geometry enables the structure to distribute forces more effectively during torsional and bending operations, improving both the flexible deformation capability and the resistance to torsional loads through the geometric configuration of the contact surfaces.
2Ease of operation
If a cam mechanism with spring plates is used, then joint motion can be limited, but the torsion resistance capacity remains limited due to short force arms
Solution Approach 1:
The patent replaces the traditional cam mechanism with a clamping jaw-boss structure featuring arc contact surfaces. The curved geometry of the clamping jaws and bosses provides both motion limiting functionality and extended force arms, thereby improving torsion resistance capacity while maintaining joint motion control through the geometric constraints of the arc contact.
3Ease of operation
If rolling body mechanisms are used, then the structure can move, but there is no contact limit in torsional peripheral direction, limiting torsion resistance
Solution Approach 1:
The patent combines rigid clamping jaws with flexible spring plates in a composite structure. The rigid jaws provide contact limits in the torsional peripheral direction through their geometric constraints, while the flexible spring plates maintain motion capability. This composite design simultaneously achieves both motion capability and enhanced torsion resistance.
4Strength
If spring plates are used for torsion resistance, then some resistance is provided, but the middle space is occupied preventing through holes for operating devices
Solution Approach 1:
The patent segments the torsion resistance function from the central axis by positioning clamping jaws and bosses at peripheral locations. This segmentation allows the middle space along the central axis to remain open for through holes accommodating operating devices, while the peripheral clamping structures provide the necessary torsion resistance capacity.
5Ease of operation
If contact-assisted structures are used, then joint motion can be limited, but the kinematical modeling becomes complicated
Solution Approach 1:
The patent employs arc contact surfaces with defined geometric relationships between clamping jaws and bosses. These curved surfaces establish clear geometric constraints that simplify kinematical modeling compared to complex cam mechanisms, while still achieving effective joint motion control through the geometric definition of the contact paths.
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
Improves torsion resistance, load bearing capacity, and accommodates operating devices while maintaining flexibility and adaptability to various environments, ensuring precise motion control and preventing damage from excessive loads.
Implementation Method 1
a flexible rod hole slot and a drive wire through hole arranged in a periphery
Implementation Method 2
nickel-titanium rod framework
Implementation Method 3
a clamping jaw structure is in contact with a boss structure in a limiting mode
Data Source
AI summary
Disclosed is a rigid-flexible coupled continuum robot unit and a continuum robot. In the rigid-flexible coupled continuum robot unit, structural unit blocks are staggered and interconnected to constitute an entire manipulator; two ends of a flexible nickel-titanium rod are respectively connected with two adjacent structural unit blocks; a front-end unit block is arranged at a foremost end of the manipulator; and a rear-end unit block is arranged at a rearmost end of the manipulator. When in use, a memory alloy nickel-titanium rod forms a flexible joint, a limiting clamping jaw and a limiting boss form a rigid joint, the two complement each other, after a drive wire applies pressure, the limiting clamping jaw and the limiting boss are in a wrapping relationship, a motion trail of the robot unit is limited, such that the robot unit always rotates around a center of rotation along an arc.