Robotic Arm Cable Drive for Throwing and Catching Objects
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Solution Overview
Problem
Existing robotic arms face challenges in controlling operations due to the lack of a graspable mechanism and difficulty in establishing form or force closure with external objects, making it difficult to perform tasks such as throwing and catching three-dimensional objects at positions other than the end of the arm.
Innovation Solution
A robotic arm with a drive assembly featuring multiple drive sources and drive cables, allowing for independent and coupled motions of joints, enabling the arm to throw, catch, and maintain balance of three-dimensional objects at any position along its length without traditional end-effectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional end-effector is mounted at the end of the robotic arm, then the robotic arm can complete operation tasks, but it cannot throw and catch three-dimensional objects at positions other than the end
Solution Approach 1:
The robotic arm is designed to perform multiple functions without additional end-effectors. The arm segments themselves serve as both structural components and interaction surfaces, enabling the arm to throw, catch, and balance objects at various positions along its length. This multi-functionality eliminates the need for separate graspable mechanisms while expanding operational versatility.
Solution Approach 2:
The traditional end-effector is removed from the system. Instead of relying on a specialized grasping mechanism at the arm's end, the invention extracts the interaction capability from the end-effector and distributes it throughout the arm structure, allowing any segment to interact with objects.
2Device complexity
If the robotic arm lacks a graspable mechanism, then the structure is simpler, but it cannot establish form closure or force closure with external objects
Solution Approach 1:
The robotic arm is divided into multiple segments, each capable of independent motion and interaction. This segmentation allows any arm segment to contact and manipulate objects, distributing the graspable mechanism throughout the structure rather than concentrating it at the end. Each segment can independently establish form closure or force closure with external objects.
3Device complexity
If the robotic arm operates without multiple drive sources, then the control system is simpler, but it cannot achieve independent and coupled motions of joints
Solution Approach 1:
The robotic arm employs multiple drive sources that can operate independently or in combination, enabling dynamic control of joint motions. This dynamic drive system allows the arm to perform both independent motions of individual joints and coupled motions of multiple joints simultaneously, providing versatile control capabilities for complex manipulation tasks.
Data Source
AI summary
Disclosed are a robotic arm control method and apparatus, a device, and a storage medium, which belong to the field of robots. The method is performed by a controller of a robotic arm, and a three-dimensional object is placed at any position other than an end on the robotic arm. The method comprises controlling the robotic arm to throw the three-dimensional object; acquiring a first control signal; controlling, based on the first control signal, the robotic arm to catch the thrown three-dimensional object, the robotic arm catching the three-dimensional object at any position other than the end; acquiring a second control signal; and controlling the robotic arm based on the second control signal, to maintain the three-dimensional object in a force balance state at any position other than the end.