Snake Arm Robot Wire Arrangement for Rigidity and Payload
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Solution Overview
Problem
Existing snake arm robots have limitations in rigidity and payload due to wires being arranged in a simple linear configuration, which restricts their flexibility and carrying capacity.
Innovation Solution
The snake arm robot design incorporates wire arrangements inspired by the muscle structure of nematodes, with wires connected to disks in a radial and alternating pattern, using pulleys and rotary units to enhance rigidity and payload.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If wires are arranged in a simple linear configuration, then the device complexity is low, but the rigidity and payload are relatively low
Solution Approach 1:
The wire arrangement transitions from a one-dimensional linear configuration to a two-dimensional radial pattern. Multiple wires are disposed at different radial positions around the disk, creating a distributed support structure that enhances rigidity and load-bearing capacity without requiring complex three-dimensional mechanisms.
Solution Approach 2:
The wire system is segmented into multiple independent wires rather than a single continuous wire. Each wire is connected to the disk at different positions and can be independently controlled by separate winding drums, allowing distributed load bearing and improved overall structural rigidity.
2Quantity of substance
If wires are arranged in a simple linear configuration, then the ease of manufacture is high, but the payload capacity is relatively low
Solution Approach 1:
The payload support function is segmented across multiple wires and winding drums. Each wire-winding drum assembly can independently support a portion of the payload, and the segmented structure allows the robot to handle heavier loads by distributing the weight across multiple support points rather than relying on a single wire.
Solution Approach 2:
Multiple wire systems are merged into a coordinated arrangement where wires from different radial positions work together to support the disk and payload. The combined effect of multiple wires, each controlled by its own winding drum, creates a synergistic system with enhanced payload capacity beyond what a single wire could achieve.
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 redesigned wire arrangement significantly increases the robot's rigidity and payload capacity, enabling more effective operation in narrow and curved spaces with improved flexibility and carrying capabilities.
Implementation Method 1
The wires are wound on the first sub-pulleys... wound on the second sub-pulleys
Implementation Method 2
The wire operator includes... a first block moving member... a second block moving member
Data Source
AI summary
The present disclosure relates to a snake arm robot, which includes: a base disk; a rotary unit rotatably connected to the base disk and having multiple sub-disks sequentially arranged in a predetermined arrangement direction and rotatably connected to each other; a wire connector having multiple wires connected to the base disk or a plurality of disks selected from the sub-disks and sequentially disposed in the arrangement direction or disposed to partially face each other in a circumferential direction of the sub-disks; and a wire operator operating the wires to rotate the sub-disks by a predetermined angle.According to the snake arm robot of the present disclosure, since wires connected to disks to rotate the disks are arranged in a similar type to the muscle structure of a nematode, there is the advantage that rigidity and payload are increased.