Scalable Common Interface Plate System for Robotic End-Effector
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Solution Overview
Problem
Current space robotic manipulator designs face a mass penalty and complexity due to excessive misalignment tolerance in end-effectors, making them heavy and costly, while also rendering most misalignment tolerance superfluous for local operations.
Innovation Solution
A scalable common interface plate system with an active base interface plate and a passive base interface plate, utilizing a barrel-cam design with wedges and locking pins to achieve a high-stiffness, zero-free-play interface, compatible with various robotic systems, including SRMS and OEDMS, allowing for lightweight and compact end-effector design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional snare rigidize end-effectors are used to accommodate misalignment, then misalignment tolerance is improved, but mass and device complexity increase significantly
Solution Approach 1:
The patent changes the interface engagement parameters by using a roll joint mechanism that rotates to engage the passive interface plate, replacing the traditional linear approach. This rotational engagement method allows for controlled alignment while reducing the need for excessive misalignment tolerance in the end-effector structure itself
Solution Approach 2:
The patent extracts the misalignment accommodation function from the end-effector structure and relocates it to the passive interface plate and roll joint mechanism. The active base interface plate uses a roll joint that can rotate to accommodate angular misalignments, while the passive plate contains the alignment features, separating the alignment function from the heavy end-effector structure
2Manufacturing precision
If traditional snare rigidize end-effectors are used to accommodate misalignment, then misalignment tolerance is improved, but device complexity increases
Solution Approach 1:
The patent segments the interface system into distinct functional components: an active base interface plate with roll joint mechanism, a passive base interface plate with alignment features, and shear pins. This segmentation allows each component to perform its specific function (alignment, engagement, locking) independently, reducing overall system complexity compared to integrated traditional designs
Solution Approach 2:
The passive base interface plate is designed to be entirely passive, receiving the active plate through manipulator roll joint actuation without requiring its own actuators or complex mechanisms. The shear pins automatically engage and lock the interface once aligned, providing self-locking functionality that reduces the need for additional braking or holding mechanisms
3Strength
If a high-stiffness locked interface is achieved using shear pins, then interface stiffness is improved, but mechanism complexity increases
Solution Approach 1:
The patent merges the alignment and locking functions into a single integrated sequence. The roll joint rotation simultaneously achieves angular alignment and drives the shear pins into the passive interface plate, creating a locked interface. This combined action eliminates the need for separate alignment mechanisms and locking actuators, reducing overall mechanism complexity while achieving high stiffness
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
The system results in a high-stiffness, low-power, and compact end-effector design that eliminates the need for mechanism brakes, enabling multi-mechanism actuation from a single motor, and is scalable for different applications, providing a lightweight and cost-effective solution.
Implementation Method 1
said locking mechanism including at least one wedge protruding through an aperture in said base plate
Data Source
AI summary
The present invention provides a low profile, compact, scalable concept end-effector for use in robotic handling applications. The end-effector acts as the interface between multi-degree-of-freedom (DOF) manipulator and its base (if applicable), as well as the tools it handles and is compatible with both large manipulator systems such as the Shuttle Remote Manipulator System (SRMS) and Space Station Remote Manipulator System (SSRMS) and smaller dexterous manipulators such as the Orbital Express Dexterous Manipulator System. An active/controlled component is attached to the roll joint(s) at one or both end(s) of the manipulator, with an entirely passive component attached to the structure/tools that the manipulator interfaces with. Interface engagement and mate operations are performed by way of the manipulator roll joint. Once mated, shear pins are extended to lock the mated assembly in place and achieve a high stiffness, zero free play mated interface.