Robotic Manipulator Virtual Barrier Control for Hazardous Spaces
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Solution Overview
Problem
Current remote manipulators are limited in capability, versatility, and reliability for operations in hazardous and difficult-to-access spaces, requiring a more advanced solution to reduce human exposure and enhance operational efficiency.
Innovation Solution
A remotely operable robotic manipulator arm (RMA) with extendable components, versatile tool attachments, and integrated sensors, designed for deployment through tight access points, capable of carrying out inspection, maintenance, and cleaning operations in hazardous environments with minimal human interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If remote robotic manipulators are used to access hazardous spaces, then operator safety is improved, but device complexity increases
Solution Approach 1:
The manipulator system is divided into modular components including base unit, articulated arms, end effectors, and sensor packages that can be independently configured and deployed. This segmentation allows the complex system to be managed through standardized modules while maintaining operator safety in hazardous environments.
Solution Approach 2:
The manipulator system incorporates multiple end effectors with different functionalities (grasping, welding, inspection tools) that can be attached to the same base unit. This multi-functionality reduces the need for multiple specialized systems while improving operator safety by handling diverse hazardous tasks remotely.
2Reliability
If manipulators are designed for specific needs, then reliability for that specific task is improved, but adaptability to other tasks deteriorates
Solution Approach 1:
The system employs a universal base unit that can accommodate multiple specialized end effectors through standardized interfaces. This allows the same manipulator platform to reliably perform diverse tasks including welding, inspection, grasping, and cleaning operations by simply changing the end effector module.
Solution Approach 2:
The manipulator system features dynamically reconfigurable end effectors that can change their functional properties during operation. For example, grippers can adjust their gripping force and configuration, and tool modules can be swapped during missions to adapt to different task requirements while maintaining reliable performance.
3Productivity
If manipulators are built with extended capabilities, then operational efficiency is improved, but device complexity increases
Solution Approach 1:
Complex capabilities are achieved through segmented functional modules rather than monolithic design. The system separates locomotion, manipulation, sensing, and tool functions into independent modules that can be independently optimized and maintained, improving operational efficiency without proportionally increasing overall system complexity.
Solution Approach 2:
The manipulator system employs nested modular architectures where end effectors contain specialized tools, which may themselves contain sub-components. This nesting allows extended capabilities to be packaged in compact, organized units that improve operational efficiency while managing complexity through hierarchical organization.
Data Source
AI summary
A robotic arm control system including a robotic arm configured to deploy one or more tools in an operating space, one or more sensors, and a control system operably configured to: scan the operating space with the one or more sensors, identify a surface of the operating space based at least in part upon information sensed by the one or more sensors, establish a virtual barrier offset from the surface, and limit movement of the robotic arm based at least in part upon the virtual barrier.