Robotic Arm Mapping and Virtual Barrier Control in Confined Spaces
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Solution Overview
Problem
Current remote manipulators are limited in capabilities and versatility, making them unsuitable for a wide range of operations in hazardous and difficult-to-access spaces, which necessitates a more versatile and reliable robotic arm deployment and control system.
Innovation Solution
A robotic arm deployment and control system featuring a modular design with extendable components, including a telescoping mast, forearm, elbow, and wrist, capable of various orientations and tool attachments, integrated with a control system for safe and precise operation in confined spaces, and equipped with sensors for environmental monitoring and feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If remote manipulators are built for specific needs, then reliability is improved, but adaptability deteriorates
Solution Approach 1:
The robotic arm system is designed with universal components that can perform multiple functions. The base unit can support various types of robotic arms (single arm, dual arm, multi-arm configurations), and each arm can be equipped with different end effectors to perform diverse operations such as inspection, maintenance, cleaning, and manipulation tasks in hazardous environments.
Solution Approach 2:
The system is divided into modular segments including a base unit, multiple robotic arms, end effectors, and control systems. Each component can be independently configured, assembled, and replaced based on specific operational requirements, allowing the system to adapt to different tasks while maintaining reliable core functions.
2Adaptability or versatility
If robotic arm components are extended to reach difficult spaces, then adaptability is improved, but device complexity increases
Solution Approach 1:
The robotic arm employs telescoping components where segments are nested within each other. The forearm can be extended or retracted relative to the upper arm, and the lower arm can be extended relative to the forearm, allowing the arm to reach into confined spaces while maintaining a compact form when retracted.
Solution Approach 2:
The robotic arm features dynamically adjustable components including variable degrees of freedom at different joints. The arm can transition between different configurations (e.g., extended vs. retracted, different angular positions) to adapt to varying spatial requirements while managing complexity through controlled articulation.
Data Source
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AI summary
A robotic manipulator arm deployment and control system comprises one or more sensors comprising at least one of a non-contact sensor for measuring range and bearing to objects contained within the operating space in polar coordinates, and a dynamic measurement unit comprising accelerometers and rate sensors. The system further comprises a control system operably configured to receive the polar coordinates from the non-contact sensor and Cartesian coordinates from the dynamic measurement unit, convert the polar coordinates to Cartesian coordinates based on the Cartesian location of the non-contact sensor and dynamic measurement unit, identify one or more surfaces defining the operating space with the one or more sensors, use the combined data to generate a three-dimensional map of the operating space based at least in part on the one or more surfaces defining the operating space, establish an impermeable virtual barrier offset from one or more surfaces in the operating space, and establish a permeable virtual barrier offset from the impermeable virtual barrier.