Robot Arm Output Link Layout for Extended Reach and Manual Guidance
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Solution Overview
Problem
Existing robot arms lack an extended useful range and intuitive manual guidance without compromising payload or distal interference contour.
Innovation Solution
A robot arm design with adjustable joints and links, featuring a distal end link as a tool flange and an additional output link rotatable about a parallel axis, equipped with drive devices and a hand-guiding interface for manual control, providing tactile feedback and multiple input options.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an additional output link is added to the robot arm, then the useful range and operational versatility are extended, but the device complexity increases
Solution Approach 1:
The robot arm is divided into functionally independent segments: the distal end link (tool flange) and the additional output link are mounted on separate drive devices, allowing independent control of each segment. This segmentation enables extended operational versatility while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The hand link serves multiple functions by mounting both the distal end link (tool flange) and the additional output link on it. This multi-functionality allows the same structural component to support multiple operational modes, extending the useful range without proportionally increasing overall device complexity.
2Ease of operation
If manual guidance interface is added, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The manual guidance interface is merged with the additional output link, combining the functions of manual operation and mechanical output in a single integrated component. This allows intuitive manual guidance without adding separate control mechanisms, thereby improving ease of operation while minimizing increases in device complexity.
3Adaptability or versatility
If parallel rotation axis is added, then operational flexibility is improved, but manufacturing complexity increases
Solution Approach 1:
The parallel rotation axis is implemented locally at the additional output link rather than throughout the entire robot arm structure. This localized approach provides the needed operational flexibility at the end effector while avoiding the need to redesign the entire manufacturing process for the robot arm, thus minimizing manufacturing complexity.
Data Source
Figure 1
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Figure 4~5
AI summary
The invention relates to a robot arm (2) comprising multiple joints (5) and multiple links (4) which can be adjusted relative to one another by means of the movements of the joints (5) of the robot arm (2). Each driven joint (5) is paired with a drive device (6), and each drive device (6) is designed to adjust the robot arm (2) joint (5) paired therewith, namely by means of a respective automatic actuation of a motor (7) of the respective drive device (6). The robot arm has a distal end link (4a) which is designed in the form of a tool flange (8), a hand link (4b) which is arranged directly upstream of the distal end link (4a) in the kinematic chain of the joints (5) and links (4) and on which the distal end link (4a) is rotatably mounted about a flange rotational axis (A), and an additional output link (10) which is rotatably mounted on the hand link (4b) about a rotational axis (D) that is parallel to the flange rotational axis (A) and which is arranged on the hand link (4b) so as to lie opposite the distal end link (4a).