Robotic Multifunctional Tool With Replaceable Tips and One Actuator
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Solution Overview
Problem
Existing robotic tools for space manipulators require multiple actuators for each tool, leading to increased mass, complexity, and power requirements, which reduces payload capacity and increases mission costs due to the need for redundancy and additional mass.
Innovation Solution
A multifunctional tool with replaceable tool tips, driven by a common actuator/motor, allowing for various functions such as cutting, grasping, and driving, with the ability to rotate and translate, reducing the need for multiple actuators and simplifying the system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple actuators are used for each robotic tool, then each tool can perform its specific function reliably, but the overall system mass, complexity, and power requirements increase
Solution Approach 1:
The patent implements a universal robotic tool with a single actuator that can perform multiple functions through interchangeable tool tips. The tool holder can accommodate various tool tips (cutting, grasping, driving functions) that are selectively attached and detached. This multi-functionality approach eliminates the need for multiple dedicated actuators, thereby reducing system mass while maintaining operational reliability across different tasks.
2Reliability
If multiple actuators are used for each robotic tool, then each tool can perform its specific function reliably, but the device complexity increases
Solution Approach 1:
The universal tool design consolidates multiple actuator functions into a single actuator that drives different tool tips. The tool holder mechanism provides a standardized interface for attaching and detaching tool tips, simplifying the overall system architecture. This reduces device complexity by eliminating redundant actuator systems while maintaining the ability to perform multiple functions reliably through tool tip interchangeability.
3Power
If multiple actuators are used for each robotic tool, then each tool can perform its specific function with sufficient power, but the power requirements and mission costs increase
Solution Approach 1:
The single actuator in the universal tool is designed to provide sufficient power for multiple functions through the interchangeable tool tips. By consolidating power requirements into one actuator system rather than multiple separate actuators, the overall power consumption is reduced. This approach maintains adequate power delivery for cutting, grasping, and driving operations while lowering the total energy requirements for the robotic system, thereby reducing mission costs.
Data Source
Figure 1
Figure 1a
Figure 1b~1d
AI summary
Herein is disclosed a multifunctional tool with replaceable tool tips. The disclosed multifunctional tool may be used as an end-effector on a robotic arm in space. Each tool tip, when in the tool holder, is driven by a common motor. The same motor can also be used to control the orientation of the tool tip about an axis. The tool tips are replaceable in the tool holder by simple and robust means, resulting in a lighter and cheaper multifunctional tool. The tool tips can be variously adapted to perform a variety of functions, including cutting, grasping, drilling, driving, etc. Since the tool may be driven by only one actuator, and the single actuator may be used to drive both the tool and rotation of the tool, mass can be saved. Use of such a multifunctional tool also reduces overall system power requirements, and system complexity.