Robot Arm Viscoelastic Damping for Cantilever Vibration
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Solution Overview
Problem
Robot arm systems face challenges in effectively damping vibrations, particularly in end-effector and payload structures, due to their cantilevered configurations and slim profiles, which lead to energy dissipation limitations and increased oscillations during operations.
Innovation Solution
Integration of viscoelastic damping elements within the robot arm structure, such as embedded viscoelastic materials or supplementary damper arrangements, that utilize viscoelasticity to dissipate energy through mechanisms like microslip, cyclic plastic deformation, and cyclic viscoelastic deformation, enhancing energy dissipation capabilities and reducing vibrations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robot arm links use cantilevered configurations with slim profiles, then the robot arm achieves compact structure and ease of operation, but vibration damping capability deteriorates due to limited energy dissipation
Solution Approach 1:
The patent applies composite materials by integrating viscoelastic damping elements within the robot arm link structure. These damping elements are embedded in the links to create a composite structure that combines the structural integrity of the robot arm with the vibration-damping properties of viscoelastic materials, thereby improving energy dissipation without compromising the slim profile and maneuverability
Solution Approach 2:
The patent implements local quality by placing viscoelastic damping elements at specific locations within the robot arm links where vibrations occur. This localized approach allows the damping elements to effectively reduce vibrations in critical areas while maintaining the overall compact structure and ease of operation of the robot arm
2Stability of the object's composition
If traditional damping methods are used, then vibration reduction is achieved, but device complexity increases and suitability for clean/vacuum environments deteriorates
Solution Approach 1:
The patent merges the damping function with the existing robot arm structure by integrating viscoelastic elements directly into the links. This combination eliminates the need for separate, complex damping systems while achieving effective vibration reduction, thereby maintaining simplicity and suitability for clean and vacuum environments
3Loss of energy
If viscoelastic damping elements are integrated into robot arm links, then energy dissipation improves and vibrations are reduced, but manufacturing complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-fabricating damping elements with specific viscoelastic properties and embedding them into the robot arm links during the manufacturing process. This approach allows for controlled integration of damping functionality while managing manufacturing complexity through planned design and fabrication sequences
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
The implementation of viscoelastic damping elements significantly reduces vibrations in robot arm systems, improving energy dissipation and stability during operations, while maintaining structural integrity and suitability for clean and vacuum environments.
Implementation Method 1
the at least one viscoelastic element dampens the vibrations in the frame of the first robot arm link based upon viscoelasticity and the connection of the at least one viscoelastic element to the frame of the first robot arm link
Implementation Method 2
the plurality of viscoelastic elements are at least partially embedded inside the core... as the core experiences vibrations, the at least one viscoelastic element dampens the vibrations in the core
Data Source
AI summary
An apparatus including a plurality of robot arm links movably connected to one another, where a first one of the robot arm links includes a frame, where the frame has a first end movably connected onto a second one of the robot arm links; and at least one vibration damper arrangement on the frame of the first robot arm link, where the at least one vibration damper arrangement includes at least one viscoelastic element connected to the frame of the first robot arm link by a connection such that, as the frame of the first robot arm link experiences vibrations, the at least one viscoelastic element dampens the vibrations in the frame of the first robot arm link based upon viscoelasticity and the connection of the at least one viscoelastic element to the frame of the first robot arm link.