3D-Printed Robotic Arm Links for Dense Control Wire Routing
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Solution Overview
Problem
The construction of long and thin robotic arms is challenging due to difficulties in forming links with a desired density of control wire holes and threading thin, flimsy control wires through them.
Innovation Solution
The method involves positioning control wires in a formation zone and using additive manufacturing to form the robotic arm body around them, ensuring the wires are pre-threaded through links and spaced closely for increased density, allowing for the creation of longer and thinner robotic arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If individual links are separately formed with extruded or drilled holes for control wires, then the robotic arm can be constructed with modular links, but it becomes difficult to achieve desired density of control wire holes and threading becomes difficult for long and thin robotic arms
Solution Approach 1:
The control wires are pre-positioned within the links during the additive manufacturing process before the links are fully formed. This preliminary action eliminates the subsequent difficult step of threading thin, flimsy control wires through individually formed links, especially in long and thin robotic arms where threading becomes increasingly difficult.
Solution Approach 2:
The invention merges the link formation process with the control wire integration process by using additive manufacturing to create links that encapsulate control wires during their formation. This combining of operations allows control wires to be embedded within links rather than threaded through pre-formed holes, significantly easing the construction process.
2Quantity of substance
If control wires are threaded through individually formed links, then modular construction is possible, but the density of control wires that can be accommodated is limited
Solution Approach 1:
The invention changes the manufacturing parameter from traditional subtractive methods (drilling holes) to additive manufacturing. This parameter change allows control wires to be embedded within the link material during formation, enabling much higher wire density since wires are positioned within the volume of the link rather than constrained to surface holes.
3Manufacturing precision
If traditional drilling or extrusion methods are used for control wire holes, then conventional manufacturing processes can be employed, but it is difficult to form links with desired density of control wire holes
Solution Approach 1:
The invention replaces the mechanical drilling or extrusion system with an additive manufacturing system. This substitution allows for precise positioning of control wires within links through digital modeling and layer-by-layer construction, achieving desired hole positioning precision while simplifying the manufacturing process for complex wire configurations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the efficient construction of robotic arms with a high density of control wires, facilitating the formation of longer and thinner structures with improved assembly efficiency and reduced complexity.
Implementation Method 1
forming a body of the robotic arm in the formation zone around the wire such that the body of the robotic arm encloses at least a portion of the wire
Data Source
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AI summary
A method (200) for constructing a robotic arm (104) includes positioning (202) a wire (120) in a formation zone (124) for the robotic arm (104); and forming (206) a body (126) of the robotic arm (104) in the formation zone (124) around the wire (120) such that the body (126) of the robotic arm (104) encloses at least a portion of the wire (120).