Robot Arm Weight Compensation via Pulley and Elastic Link
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Solution Overview
Problem
Robot arms face challenges in supporting heavy workpieces without increasing the size of the driving source, making it difficult to achieve a slim and efficient design due to the torque requirements.
Innovation Solution
A weight compensation mechanism using a combination of pulleys, wires, and elastic members that offset the load of the robot arm links, allowing the links to remain parallel and reducing the torque at the joints, thereby minimizing the size of the driving source.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the size of the driving source is increased to support heavy workpieces, then the load-bearing capacity is improved, but the robot arm becomes bulkier and less slim
Solution Approach 1:
The patent applies the counterweight principle by introducing an auxiliary link system with pulleys and elastic members that generate an upward force to offset the downward gravitational force on the first link. This balance reduces the net load that the driving source must support, enabling smaller motors while maintaining load-bearing capacity.
Solution Approach 2:
The patent segments the weight compensation function into separate components: the auxiliary link, pulleys, wire, and elastic member. This modular approach allows the compensation mechanism to be integrated into the existing robot arm structure without requiring a complete redesign, thus reducing overall volume while maintaining strength.
2Power
If a weight compensation mechanism is added to reduce torque, then the driving source size is reduced, but the device complexity increases
Solution Approach 1:
The patent implements nesting by placing the elastic member inside the hollow first link, and positioning the pulleys and wire within the existing structural boundaries of the robot arm. This nested arrangement minimizes the space required for the compensation mechanism, reducing the added complexity while achieving power reduction.
Solution Approach 2:
The patent uses the wire as an intermediary element connecting the pulleys and elastic member, and the pulleys as intermediaries to transmit force between the wire and the links. These intermediary components simplify the force transmission path compared to direct mechanical connections, reducing overall mechanism complexity.
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 weight compensation mechanism effectively reduces the torque at the joints, allowing for a smaller and more efficient driving source, enabling a slimmer robot arm design while maintaining stability and load-bearing capacity.
Implementation Method 1
an elastic member having one side mounted on the first link and the other side connected to the wire to provide an elastic force to compensate for the load of the first link
Implementation Method 2
a first pulley mounted on the first auxiliary link; a second pulley mounted on the first link; a wire connecting the first pulley to the second pulley
Data Source
AI summary
A robot arm having a weight compensation mechanism. In one configuration, the robot arm includes a first link which is pivotably disposed, a first auxiliary link disposed parallel to the first link, a first pulley mounted on the first auxiliary link, a second pulley mounted on the first link, a wire connecting the first pulley to the second pulley, and an elastic member having one side mounted on the first link and the other side connected to the wire to provide an elastic force to compensate for the load of the first link.