Snake Arm Parallel Joints Steel Wire Drive Radiation Resistance
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Solution Overview
Problem
Existing snake robotic arms face challenges in achieving high accuracy, large load capacity, and long-distance radiation resistance, particularly in complex and cramped environments like nuclear radiation settings.
Innovation Solution
A high-accuracy snake arm with large load and long-distance radiation resistance is designed, featuring parallelly-connected joints driven by centrally distributed motors via steel wire ropes. This configuration eliminates motion coupling between joints, enhancing accuracy and load capacity while providing radiation resistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a motor is contained in each joint to drive the joint, then the control accuracy is high, but the number of joints cannot be excessive and the load capacity is small
Solution Approach 1:
The patent divides the driving system into two parts: centralized motors in the base and distributed steel wire ropes at each joint. Each joint is driven by an independent steel wire rope pulled by the centralized motor, achieving both high control accuracy and high load capacity without needing a motor in each joint.
2Force
If a hydraulic cylinder is used to drive a joint, then a large load is exerted, but the structure is complicated and bulky
Solution Approach 1:
The patent extracts the complex hydraulic system and replaces it with a simple steel wire rope driving mechanism. The hydraulic cylinder is replaced by a centralized motor pulling a steel wire rope through pulleys at each joint, significantly simplifying the structure while maintaining high load capacity.
3Force
If a hydraulic cylinder is used to drive a joint, then a large load is exerted, but the sealing element is easily damaged in radiation environment
Solution Approach 1:
The patent replaces the hydraulic system with a pure mechanical steel wire rope system. The hydraulic sealing elements that are vulnerable to radiation damage are eliminated, and the system uses only mechanical components (steel wire rope, pulleys, gears) that can withstand radiation environments.
4Reliability
If a motor is centrally placed in a driving box with a rope to drive the joint, then the joint is of pure mechanical structure and can work under radiation environment, but the motion control is complicated and has large error
Solution Approach 1:
The patent introduces a dynamic adjustment mechanism where the steel wire rope can be independently controlled at each joint. The centralized motor can dynamically adjust the tension and position of the steel wire rope to compensate for coupling effects, improving motion accuracy while maintaining radiation resistance.
5Device complexity
If the joint link itself is used as a fixed channel for the rope, then the structure is simple, but when the joint moves, all ropes passing through the joint are affected, resulting in coupling between motions
Solution Approach 1:
The patent introduces a pulley system as an intermediary between the centralized motor and the joint. The steel wire rope passes through the pulley at each joint, which acts as a mediator to decouple the motion of different joints. This allows each joint to move independently while maintaining structural simplicity.
Data Source
AI summary
The present invention provides a high-accuracy snake arm with large load and long-distance radiation resistance, which includes a driving base body and a snake shaped arm, where the snake shaped arm is composed of parallelly-connected joints connected in series, which includes a plurality of identical movable linkages connected in parallel, each of the parallelly-connected joints further includes platforms; when one of the platforms at the two ends of the plurality of identical movable linkages connected in parallel is fixed, the other platform performs translation motion along a circle relative to the fixed platform. The movable linkage includes at least a link; and a plurality of driving units are installed in the driving base body, each driving unit is respectively connected to each link in the parallelly-connected joint via a steel wire rope.