Robot Arm Configuration for Interference Reduction

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Solution Overview

Problem

Conventional robots requiring large spaces to move their distal end to a position 180 degrees different about the first rotation axis face interference issues, limiting their operational efficiency and space utilization.

Innovation Solution

A robot system with a configuration of multiple rotatable arms and motors, where the first arm is longer than the second arm, and the moving part has a third and fourth arm, allowing for overlap and reducing interference, enabling efficient movement without increasing the robot's size or weight.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Area of stationary object

If the robot uses a conventional configuration with arms rotating about fixed axes, then the robot can perform basic manipulation tasks, but it requires a large space to prevent interference when moving the hand to positions 180 degrees different about the first rotation axis

Engineering Contradiction:

Improvespace to prevent interferenceVSAvoidability to move hand to 180 degrees different position

Core Design Contradiction:

Area of stationary objectVSAdaptability or versatility

Solution Approach 1:

The patent applies dynamics by making the rotation axis of the first arm movable rather than fixed. The rotation axis moves in the radial direction of the first arm according to the rotation angle, allowing the arm to dynamically adjust its configuration. This enables the robot to move the hand to positions 180 degrees different about the first rotation axis while reducing the space required to prevent interference, as the movable axis allows the arm to clear obstacles that would block fixed-axis rotation.

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If the robot arm lengths are increased to achieve greater movement range, then the robot can access more positions, but the robot's size and weight increase

Engineering Contradiction:

Improvemovement range of robot armVSAvoidlength of robot arm

Core Design Contradiction:

Adaptability or versatilityVSLength of moving object

Solution Approach 1:

The patent uses a movable rotation axis that changes position in the radial direction of the first arm based on the rotation angle. This dynamic configuration allows the robot to achieve greater effective movement range without proportionally increasing arm length, as the changing axis position provides additional reach capability while keeping the physical arm dimensions more compact.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent introduces a radial dimension for the rotation axis movement that is independent of the traditional rotational movement. By allowing the rotation axis to move in the radial direction of the first arm, the system adds a degree of freedom that extends the reachable workspace without simply lengthening the arm, effectively utilizing another dimension to expand capability.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Data Source

PatentUS10293479B2Robot and robot system

Publication Date: 2019.05.21 SEIKO EPSON CORP

AI summary

A robot includes: a first arm rotatable about a first rotation axis; a second arm provided on the first arm rotatably about a second rotation axis that is a different axial direction from an axial direction of the first rotation axis; and a moving part provided on the second arm rotatably about a third rotation axis. The moving part has a third arm and a fourth arm. A maximum length of the moving part is longer than a length of the second arm and shorter than twice the length of the second arm. The first arm has a length longer than the length of the second arm. The first arm and the second arm can overlap with each other, as viewed from the axial direction of the second rotation axis.