Robot Joint Wire Routing With Slack Retainers for Fatigue Durability
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Solution Overview
Problem
Conventional wiring in robots, particularly in mobile robots used in industrial and logistics applications, fails due to fatigue after a limited number of motion cycles, affecting robot durability and reliability.
Innovation Solution
The implementation of durable wiring that includes slack moving in concert with joints, registered by retainers at opposite end portions to maintain a predetermined relationship, reducing stress concentrations and enhancing assembly ease.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional wiring is used in robot joints, then the robot can be assembled and operated, but the wiring fails due to fatigue after a limited number of motion cycles
Solution Approach 1:
The wiring is configured with slack that moves dynamically in concert with the joint's motion, allowing the wiring to adapt its position and tension as the joint moves through its range of motion. This dynamic configuration prevents static stress concentrations that would otherwise lead to fatigue failure, enabling the wiring to withstand millions of motion cycles
Solution Approach 2:
The retainers are positioned at specific locations along the wiring to change the mechanical parameters (tension, bending radius, stress distribution) at critical points. By strategically placing retainers, the wiring's stress profile is modified to eliminate fatigue-prone conditions while maintaining electrical functionality
2Reliability
If wiring with slack and retainers is implemented, then wiring durability is enhanced, but the assembly complexity increases
Solution Approach 1:
The wiring system is segmented into distinct functional portions: the slack section that moves with the joint and the retained sections at opposite ends that maintain positional registration. This segmentation allows each portion to be optimized independently - the slack portion for durability and the retained portions for stability - while simplifying the overall assembly process through modular installation
Data Source
AI summary
A robot in accordance with at least some embodiments of the present technology includes a leg assembly. The leg assembly defines a kinematic chain and includes a joint, a proximal link proximal to the joint along the kinematic chain, and a distal link distal to the joint along the kinematic chain. The joint is configured to allow for relative rotation between the proximal and distal links about a joint axis. The leg assembly also includes wiring extending between the proximal and distal links. The wiring includes slack and defines a wiring length and a rotational orientation perpendicular to the wiring length. The leg assembly further includes proximal and distal retainers carried by the proximal and distal links, respectively. The proximal and distal retainers are resilient and configured to register rotational orientations of the wiring at proximal and distal end portions, respectively, of the slack.