Robotic Arm Distributed Control Reduces Cabling
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Solution Overview
Problem
Current robotic arm systems face challenges in designing complex end effectors that require force sensing, tactile sensing, temperature sensing, 3D vision, multi-tool use, and multi-digit gripping due to the need for extensive cabling, which leads to increased mass, mechanical issues, contamination risks, and unreliability, limiting their ability to perform sophisticated manufacturing tasks.
Innovation Solution
A robotic arm assembly with a distributed control system featuring a host computer, end effector controller, and end effector adapter, allowing for high-speed data communication between the end effector and the host computer, enabling real-time control and reducing the need for extensive cabling by using a combination of long-distance and short-distance communication links.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If extensive cabling is used to connect the host computer to the distal end effector, then control capability is improved, but system reliability deteriorates due to cable wear, contamination, and mechanical issues
Solution Approach 1:
The patent replaces the mechanical cabling system with a wireless communication system. The end effector includes a wireless transceiver that communicates with the host computer via wireless signals, eliminating physical cables from the distal connection. This substitution resolves the contradiction by maintaining control capability through wireless communication while eliminating cable-related reliability issues such as wear, contamination, and mechanical failures.
Solution Approach 2:
The patent extracts and removes the cabling component from the system architecture. By taking out the physical cable connection and replacing it with wireless communication infrastructure, the system eliminates the source of mechanical and contamination problems while preserving the essential control function through alternative communication means.
2Adaptability or versatility
If extensive cabling is used to provide power and data to the end effector, then functional capability is improved, but device complexity increases due to cable management requirements
Solution Approach 1:
The wireless communication system replaces the complex mechanical cabling infrastructure. Instead of managing extensive cables for power and data transmission, the system uses wireless transceivers and electromagnetic signal transmission, dramatically reducing device complexity while maintaining or enhancing functional capability through flexible wireless connectivity.
Solution Approach 2:
The wireless communication system serves multiple functions simultaneously - data transmission, control signals, and potentially power transfer through wireless power transmission technologies. This multi-functionality eliminates the need for separate cable bundles for different purposes, reducing overall system complexity while maintaining comprehensive functional capability.
3Device complexity
If a single host computer controls all end effector functions from the base, then system simplicity is improved, but response time deteriorates due to long communication distances
Solution Approach 1:
The control system is segmented into distributed intelligent units located at the end effector itself. Each end effector includes its own processor and memory, enabling local decision-making and real-time control without waiting for commands from the distant host computer. This segmentation improves response time by enabling autonomous operation while maintaining system simplicity through standardized modular units.
Solution Approach 2:
The end effector processors are pre-configured with control algorithms and decision-making capabilities, allowing them to execute commands and respond to stimuli immediately upon receiving basic instructions from the host computer. This preliminary preparation of local intelligence enables rapid response times while the host computer maintains overall system coordination, balancing simplicity with speed.
Data Source
AI summary
A robotic arm assembly is described that incorporates a distributed control arrangement. The robotic arm assembly includes a host computer, a set of robotic arm segments, and a set of actuators, each actuator being interposed between adjacent pairs of the set of robotic arm segments to affect a relative movement between the adjacent pairs of the set of robotic arm segments. The robotic arm assembly further includes an end effector controller configured with a first interface configured to support a first communication link between the end effector controller and the host computer, and a second interface, separate from the first interface. The robotic arm assembly furthermore includes an end effector adapter configured to provide a high speed data interface between the end effector controller and an end effector.