Robot Manipulator Nested Arm Configuration for Compact Workspace
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Solution Overview
Problem
Conventional robots with articulated arms require significant space to operate efficiently, especially when moving their end effectors by 180° around a rotating shaft, leading to interference with themselves and peripheral equipment.
Innovation Solution
A robot design featuring multiple arms that can rotate around distinct axes, allowing for overlapping configurations and positioning the manipulator's outline within specific circles to minimize space requirements and avoid interference, enabling efficient operation in narrow spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the hand is caused to move to a position different by 180° around the first rotating shaft with respect to the base, then the robot can perform work in a wider range, but a large space is required and interference occurs
Solution Approach 1:
The patent applies nesting by allowing the second arm to overlap with the first arm, and the third arm to overlap with the second arm, when viewed in the axial direction of the intermediate rotation axis. This nested configuration enables the robot to achieve a 180° work range while minimizing the space required, as the arms are positioned within each other's spatial envelope rather than requiring separate clearance zones.
Solution Approach 2:
The patent resolves the space conflict by utilizing the axial direction of the intermediate rotation axis as an additional dimensional perspective. By defining overlap conditions specifically in this axial direction and positioning rotation axes at separated locations when viewed from this dimension, the robot achieves compact spatial arrangement while maintaining full work range capability.
2Area of stationary object
If the arms are positioned to overlap each other, then the space required is reduced, but interference between arms may occur
Solution Approach 1:
The patent applies local quality by specifying that overlap is permitted only when viewed in the axial direction of the intermediate rotation axis, while the rotation axes themselves are positioned at separated locations when viewed from this same dimension. This localized spatial arrangement allows arms to overlap in specific orientations without causing interference during rotation, as the separated axis positions prevent collision in the radial direction.
Data Source
AI summary
A robot includes: a manipulator that is provided with an n-th (n is an integer of 1 or larger) arm which is capable of rotating around an n-th rotation axis, an (n+1)-th arm provided on the n-th arm to be capable of rotating around an (n+1)-th rotation axis having an axial direction which is different from an axial direction of the n-th rotation axis, and an (n+2)-th arm provided on the (n+1)-th arm to be capable of rotating around an (n+2)-th rotation axis. In a first state, an outline of the manipulator is positioned on an inner side of a first circle or on the first circle with the n-th rotation axis as the center thereof, and with first length between a distal end of the manipulator and the n-th rotation axis, as a radius, when viewed in the axial direction of the n-th rotation axis.