Robot Joint Control Layout for Slimmer Arm Assemblies
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Solution Overview
Problem
Conventional robot arrangements have a bulky design due to the need to guide multiple control lines through joints, which increases the interference contour and complicates maintenance and troubleshooting.
Innovation Solution
A robot arrangement with structural parts connected by joints and dedicated joint motors, where the control device is integrated into one of the structural parts, reducing the number of control lines needed and allowing for a more compact design, with the control device and sensor systems integrated within the structural parts to simplify mounting and maintenance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the control device is arranged in the base of the robot arrangement, then the control device can be easily accessed and maintained, but the number of control lines that have to be guided over or through the joints increases, resulting in a bulky design and increased interference contour
Solution Approach 1:
The control device is segmented from the base and integrated into one of the structural parts (e.g., link arm or robot arm). This segmentation allows the control device to be positioned closer to the joints it controls, reducing the number of control lines that need to be guided through multiple joints, thereby reducing the interference contour while maintaining accessibility for maintenance.
Solution Approach 2:
The control device is repositioned from the base (zero-dimensional fixed point) to a structural part along the robot's kinematic chain (one-dimensional movement along the arm). This dimensional change allows the control device to be closer to the joints it controls, reducing the path length and number of control lines through joints, thus reducing the interference contour.
2Adaptability or versatility
If multiple control lines are guided through each joint to connect the base control device to multiple joint motors, then all joints can be controlled, but the joints become bulkier and more complex in design
Solution Approach 1:
The control device is segmented and distributed to different structural parts, with each control device instance controlling only the joint motors in its local vicinity. This segmentation reduces the number of control lines that need to pass through each joint, simplifying the joint design while maintaining the ability to control all joint motors through distributed control.
Solution Approach 2:
Each control device is locally positioned within a structural part to control only the joint motors in its immediate vicinity. This local quality approach ensures that each joint receives only the necessary control lines for its specific motors, reducing the overall complexity of each joint design while maintaining full control capability across all joints.
3Volume of moving object
If the control device is integrated into a structural part, then the number of control lines through joints is reduced and the design becomes more compact, but the heat dissipation challenge increases due to concentrated electronics in a smaller space
Solution Approach 1:
The control device is moved from the base to a structural part along the robot's kinematic chain. This repositioning creates additional spatial dimensions and pathways for heat dissipation, as the control device can now utilize the structural part's surface area and surrounding environment for thermal management, rather than being confined to the base location.
Data Source
AI summary
A robot assembly includes at least four load-bearing structural parts connected by joints between each two adjacent structural parts to form a chain, and a joint motor associated with each joint for the driven movement of the structural parts connected by the joint relative to each other. A control device is provided in one of the structural parts which is connected at both ends to an adjacent structural part via an associated joint. The control device is designed to control at least three of the joint motors, and the electrical connection of the control device to each of the joint motors necessary for the controlling process is provided by a separate control line dedicated to the associated joint motor.