Robotic Arm Secondary Tool Integration for Constrained Access
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Solution Overview
Problem
Conventional robotic manipulators face challenges in accessing constrained work sites, such as enclosed cavities, and complicating robotic controls when additional tools are added, particularly due to issues with computing inverse kinematics, data transfer, and safe operational procedures for multiple arms.
Innovation Solution
A system comprising a primary arm with a two-arm linkage, a secondary tool, and a controller that allows the secondary tool to be attached to the primary arm, providing seven degrees of freedom and enabling the primary arm to operate the secondary tool, which can be used for tasks like payload manipulation and maintenance, with the ability to compensate for a complex structure and support power and data transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a secondary tool is added to extend reach into constrained work sites, then accessibility to enclosed cavities is improved, but device complexity increases due to multiple arms and control systems
Solution Approach 1:
The patent merges the control systems of the primary and secondary robotic arms into a single integrated controller. The controller receives operator inputs and automatically coordinates both arms, eliminating the need for separate control systems and reducing overall system complexity while maintaining the ability to access constrained work sites.
Solution Approach 2:
The controller is designed as a universal system that can control both the primary arm and secondary tool across multiple operational modes. It provides unified control architecture that handles inverse kinematics, data transfer, and operational coordination for both arms simultaneously, reducing the need for multiple specialized control systems.
2Adaptability or versatility
If multiple robotic arms are used to perform complex manipulations, then task capability is improved, but computing inverse kinematics and coordinating control becomes more difficult
Solution Approach 1:
The controller automatically performs inverse kinematics calculations for both arms based on operator inputs and current arm configurations. The system self-coordinates the motion of primary and secondary arms, eliminating the need for operators to manually compute complex kinematic solutions and reducing control difficulty.
Solution Approach 2:
The system incorporates feedback mechanisms that continuously monitor the positions and configurations of both robotic arms. This feedback enables the controller to dynamically adjust inverse kinematics calculations and coordinate arm movements in real-time, simplifying the control process for complex manipulations.
3Ease of operation
If separate control systems are used for primary and secondary arms, then independent control is improved, but system integration and data transfer architecture become more complex
Solution Approach 1:
The patent combines separate control systems into a single integrated controller that manages both primary and secondary arms. This unified architecture simplifies data transfer by eliminating the need for complex inter-system communication protocols while maintaining independent control capabilities through software configuration.
4Adaptability or versatility
If additional tools and arms are added to conventional systems, then functional versatility is improved, but safe operational procedures and hazard controls become more complex
Solution Approach 1:
The integrated controller incorporates safety monitoring and coordination functions that automatically detect and prevent hazardous interactions between the primary arm and secondary tool. The system monitors arm positions, velocities, and operational states in real-time, providing automated hazard control that simplifies safe operational procedures.
Data Source
AI summary
Provided is a system and method for robotic manipulation. The system includes a primary arm having a two arm linkage, a secondary tool, an attachment for attaching the secondary tool to the primary arm, and a controller of the primary arm for operating the secondary tool. The method includes removing a secondary arm from a storage location, securing the secondary arm to the primary arm, and operating the secondary arm with a controller of the primary arm.