Robot Arm Handle Layout for Precise Learning Programming
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Solution Overview
Problem
Current robot arms for learning programming require cumbersome manual guidance and lack precise control over forces and moments, making the programming process inefficient and imprecise.
Innovation Solution
A robot arm design featuring a distal arm link with a handle-like extension and input elements at the free end, allowing for ergonomic operation with thumb input, including rotatable and adjustable input elements and a detachable design for optimal alignment, enhancing precise guidance and force specification during learning programming.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If operating elements are placed on the robot body, then control functionality is provided, but the learning programming process becomes cumbersome and less precise
Solution Approach 1:
The robot arm is divided into multiple arm links (A1 to AN) with articulated connections between them. The input elements are specifically placed on the distal arm link (AN), separating the control interface from the robot body and positioning it at the end effector location for more precise force and moment specification during learning programming.
Solution Approach 2:
A handle-like extension (F1) with input elements (EE) serves as an intermediary between the operator and the robot arm. This extension is rigidly connected to the distal arm link and can be grasped with one hand, allowing the operator to directly apply forces and moments at the end effector location while providing tactile feedback and precise control input.
2Productivity
If the robot arm requires gripping and guiding from different positions, then learning programming can be performed, but the process becomes time-consuming and complex
Solution Approach 1:
The distal arm link (AN) with handle-like extension (F1) serves multiple functions: it acts as the end effector mounting interface, provides the control interface with input elements (EE), and serves as the direct manipulation point for learning programming. This multi-functionality eliminates the need for separate control devices and reduces programming time.
Solution Approach 2:
The input elements (EE) are arranged in different spatial configurations (concentrically around the axis of rotation DN+1, on the extension F1, or on an intermediate piece ZW). This spatial distribution allows the operator to access and operate the input elements from different positions and orientations, improving ergonomics and reducing programming time.
3Ease of operation
If input elements are arranged for ergonomic thumb operation, then ease of operation is improved, but the device complexity increases
Solution Approach 1:
The free end (FE) of the extension F1 is made rotatable about the axis of rotation DN+1, allowing the input elements (EE) to be oriented in different directions. This dynamic adjustment capability enables ergonomic thumb operation while maintaining a relatively simple structural design, as the rotation mechanism is integrated into the existing articulated connection.
Data Source
Figure 1
AI summary
The invention relates to a robot arm with a number N of arm components An, which can be connected to a robot body via a number N of actuator-drivable joint connections GVn, where n = 1, 2, ..., N, wherein: the distal arm component AN of the robot arm is connected by it's proximal end to the arm component AN-1 via the joint connection GVN; the proximal arm component can be connected by its proximal end to the robot body via the joint connection GV1; the joint connection GVN permits a rotation of the arm component AN about a rotational axis DN; the arm component AN of the robot arm extends along an axis L1 and the axis L1 encloses an angle of between 50° and 130° with the rotational axis DN; the distal end of the arm component AN can be connected to an actuator E via an actuator-drivable joint connection GVN+1, wherein the joint connection GVN+1 permits a rotation of the actuator E about a rotational axis DN+1, wherein the the rotational axes DN and DN+1 enclose an angle W1 in the region of 50° to 130°; the rotational axis DN+1 and the axis L1 enclose an angle W2 in the region of 50° to 130°; and a protrusion F2 is formed on the actuator E or on an intermediate part ZW arranged between the joint connection GVN+1 and the actuator E, which protrusion extends perpendicular to the rotational axis DN+1, can be gripped by a hand and is also rigidly connected. The robot arm according to the invention permits a more sensitive and precise operation in the offline programming of a robot having a robot arm of this type.