Multi-Degree-of-Freedom Robotic Arm With Compact Precision Hydraulics
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic arms face challenges with large size and weight due to low kinetic energy efficiency in motor-driven systems, and require high operational skills and experience for hydraulic-driven systems with low accuracy and high maintenance costs.
Innovation Solution
A multi-degree-of-freedom robotic arm design incorporating a body mechanism with vertical and horizontal axes, actuator mechanisms with roll and pitch mechanisms, and a control system to enable multi-degree-of-freedom rotation, reducing the need for a driving motor and simplifying hydraulic servo control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motor-driven systems are used for large-load multi-degree-of-freedom robotic arms, then the robotic arm can achieve high operational accuracy, but the size and weight of the robotic arm become large
Solution Approach 1:
The patent applies hydraulic driving mechanisms to replace traditional motor-driven systems. The hydraulic system uses fluid pressure to generate motion in the robotic arm's multiple degrees of freedom, achieving high operational accuracy while significantly reducing the size and weight compared to motor-driven systems of equivalent power.
2Measurement precision
If motor-driven systems are used for large-load multi-degree-of-freedom robotic arms, then the robotic arm can achieve high operational accuracy, but the space required for installation becomes large
Solution Approach 1:
The hydraulic driving system compactly integrates multiple actuation functions into a reduced volume. The hydraulic hoses and actuators occupy significantly less space than equivalent motor-driven systems, enabling installation in limited spatial environments while maintaining high operational accuracy.
3Weight of moving object
If hydraulic-driven systems are used for robotic arms, then the size and weight of the robotic arm are reduced, but the operational accuracy becomes low
Solution Approach 1:
The patent implements dynamic control of the hydraulic system with real-time adjustment of fluid pressure and flow rates. This dynamic regulation enables precise control of the robotic arm's motion in each degree of freedom, achieving high operational accuracy despite the inherent compliance of hydraulic systems.
Solution Approach 2:
The hydraulic system incorporates feedback mechanisms including pressure sensors and position sensors that continuously monitor system state and adjust hydraulic actuation accordingly. This closed-loop control compensates for hydraulic system variations and maintains high operational accuracy.
4Weight of moving object
If hydraulic-driven systems are used for robotic arms, then the size and weight of the robotic arm are reduced, but the operational complexity requires high engineering flexibility
Solution Approach 1:
The hydraulic system is designed with self-regulating features including automatic pressure compensation and integrated control valves that adjust flow distribution based on system demands. This reduces the need for complex external control mechanisms and simplifies operation.
Data Source
AI summary
A multi-degree-of-freedom robotic arm includes a body mechanism, an actuator mechanism, and a control system. The body mechanism has a first end rotating around a vertical heading axis and a second end rotating around a horizontal first pitch axis. The actuator mechanism is installed at the second end of the body mechanism and includes: a first roll mechanism rotatably installed at the second end around a first roll axis perpendicular to the first pitch axis; a second roll mechanism rotating around a second roll axis and installed with an end actuator; and a pitch mechanism installed at a junction between the first roll mechanism and the second roll mechanism so that the second roll mechanism rotates around a second pitch axis with respect to the first roll mechanism. The control system controls and drives an operation of the body mechanism and the actuator mechanism.