Robot Arm Pivot Unit With Fluid Contraction Drives
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Solution Overview
Problem
Existing robot structures face challenges in achieving cost-effectiveness, low weight, and high operating forces with compact dimensions, while maintaining high acceleration values and efficient force delivery along an arc-shaped trajectory.
Innovation Solution
The robot structure incorporates fluid-operated contraction drives with a unique attachment point configuration, where the first and second contraction drives are aligned parallel but rotated 90 degrees in the pivoting plane, allowing for high torque and efficient operation with a small number of components, and a pivoting unit with a main pivot axis and attachment points forming an imaginary drive triangle, enabling balanced force development and precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional electrically actuated rotary drives are used in each joint module, then the robot arm can achieve precise positioning, but the device complexity and weight increase significantly
Solution Approach 1:
Multiple contraction drives are combined within a single joint module to control multiple arm segments. Instead of using separate electric rotary drives for each joint, the invention integrates several fluid-operated contraction drives in one module, reducing the number of separate drive units and simplifying the overall system structure while maintaining positioning precision through coordinated actuation.
Solution Approach 2:
The invention replaces traditional electrically actuated rotary drives with fluid-operated contraction drives. This substitution eliminates complex electrical components, gear systems, and motors, replacing them with a simpler fluid pressure-based mechanism that achieves the same rotational motion through contraction of flexible drives, thereby reducing device complexity and weight.
2Force
If multiple contraction drives are integrated into each joint module, then high operating forces can be achieved, but the weight of the robot arm increases
Solution Approach 1:
The invention uses fluid-operated contraction drives that leverage hydraulic or pneumatic pressure to generate high operating forces. By utilizing fluid pressure instead of heavy mechanical actuators, the system achieves high force output with lighter components, as fluid pressure can be transmitted efficiently through flexible hoses without requiring heavy structural support.
Solution Approach 2:
The invention changes the operating parameters by using flexible contraction drives with varying degrees of contraction rather than rigid mechanical linkages. This allows for dynamic adjustment of force application and positioning, achieving high operating forces through controlled fluid pressure changes while maintaining lighter weights compared to traditional rigid mechanical systems.
3Volume of moving object
If the robot arm is designed with compact dimensions, then space efficiency is improved, but the acceleration values and force delivery capability are reduced
Solution Approach 1:
The invention implements dynamic control through fluid-operated contraction drives that can rapidly change their contraction state by adjusting fluid pressure. This dynamic capability allows compact robot arm segments to achieve high acceleration values, as the fluid pressure can be quickly increased or decreased to produce rapid motion changes without requiring larger mechanical components.
Solution Approach 2:
The robot arm is divided into multiple segments with joint modules that can be independently actuated by contraction drives. This segmentation allows each compact segment to be optimized for its specific function while maintaining overall compact dimensions, and the independent actuation of each segment enables high acceleration through coordinated control of multiple contraction drives.
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 configuration allows for high operating forces and efficient force delivery with compact dimensions, achieving optimal length-to-width ratios and balanced force development throughout the pivoting movement, while maintaining structural integrity and precision in positioning the force output interface.
Implementation Method 1
fluid loading of an internal drive space delimited by the contraction hose is accompanied by a length contraction of the contraction hose
Implementation Method 2
a fluid loading of an internal drive space delimited by the contraction hose is accompanied by a length contraction of the contraction hose, due to which the distance between the two end pieces is reduced
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
A robot structure (1) is proposed, comprising a movable robot arm (2) with at least one arm segment (18). The arm segment (18) has a base unit (22), a pivotable pivot unit (23) relative to the base unit, and at least one fluid-actuated first and second contraction drive (34, 35). The contraction drives (34, 35) are attached to the pivot unit (23) at two second mounting points (48), which, together with a main pivot axis (27) of the pivot unit (23), are located at the vertices of a triangle. By synchronized actuation of the contraction drives (34, 35), the pivot unit (23) can be driven to pivot about the main pivot axis (27) in order to move and position a force output interface (33) attached to it along a circular arc path.