Robotic Manipulator Spherical Joints Stiffness Singularity
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Solution Overview
Problem
Existing mechanical manipulators for robotics often require complex components and assembly procedures, have limited range, and are prone to singularities and configurational distortions under mechanical loads, which complicates their use in automated systems and hazardous environments.
Innovation Solution
A controlled relative motion system with a base support and pivotally coupled link members, featuring spherical joints and reduced coupling joints to enhance mechanical stiffness and range of motion without singularities, allowing for efficient and reliable operation over a hemispherical surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple coupling joints are used to achieve multi-degree-of-freedom motion, then the range of motion and adaptability are improved, but the mechanical stiffness deteriorates due to cumulative deflection
Solution Approach 1:
The patent combines multiple coupling joints into a single spherical joint that provides two or more degrees of freedom simultaneously. This merging eliminates the cumulative deflection problem while maintaining the required adaptability and range of motion for manipulating objects in three-dimensional space.
Solution Approach 2:
The patent employs a spherical joint configuration where link members rotate about spherical sections. This curved geometry naturally accommodates multi-degree-of-freedom motion while maintaining structural integrity and mechanical stiffness, as the spherical shape distributes stresses more effectively than multiple separate joints.
2Reliability
If complex components and geometrical arrangements are used to achieve singularity-free operation, then the reliability is improved, but the device complexity increases
Solution Approach 1:
The patent uses standardized spherical joint components that serve multiple functions simultaneously - providing rotational freedom, maintaining mechanical stiffness, and eliminating singularities. This universal approach replaces complex specialized components with simpler multi-functional elements.
Solution Approach 2:
The spherical geometry inherently prevents singularities by allowing continuous rotation about multiple axes without encountering dead positions or configurational distortions. This curved design simplifies the overall structure compared to complex geometrical arrangements while maintaining reliability.
3Strength
If spherical joints with reduced coupling joints are used, then the mechanical stiffness is improved, but the manufacturing complexity may increase
Solution Approach 1:
While the spherical joint design reduces the total number of coupling joints (improving stiffness), the patent maintains ease of manufacture by using standardized components and simplified assembly procedures. The merged joint design actually reduces assembly steps compared to multiple separate joints.
Data Source
AI summary
A controlled relative motion system includes a base support and a manipulable support. A plurality of lower link members are pivotally coupled to the base support, and each includes a spherical section capture opening. A plurality of upper link members are rotatably coupled to the lower link members via spherical joints at the spherical section capture openings. The manipulable support is pivotally coupled to the plurality of upper link members.