Space Robotic End-Effector With Replaceable Tips and Shared Drive
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Solution Overview
Problem
Existing robotic tools for space manipulators require multiple actuators for each tool, increasing mass, complexity, and cost, as well as reducing payload capacity due to the need for additional power and redundancy schemes.
Innovation Solution
A multifunctional tool with replaceable tool tips, where a single common actuator/motor drives each tool tip and controls its orientation, allowing for various functions like cutting, grasping, and driving, reducing the overall system's mass and power requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple actuators are used for each tool, then each tool can perform its specific function reliably, but the system mass, complexity, and cost increase significantly
Solution Approach 1:
The patent implements a universal actuator design where a single actuator can drive multiple different tool tips through a standardized interface. The actuator is designed to be functionally universal, capable of providing the necessary torque and motion control for various tools including socket drivers, wire cutters, and blanket manipulators, thereby eliminating the need for dedicated actuators for each tool while maintaining reliable operation
Solution Approach 2:
The tool system is segmented into two independent components: a universal actuator and replaceable tool tips. This segmentation allows the actuator to remain a single, manageable unit while the tool tips can be independently selected and attached based on mission requirements. The modular architecture reduces overall system complexity by separating the actuation function from the tool-specific functions
2Adaptability or versatility
If multiple actuators are used for each tool, then each tool can be independently controlled, but the power requirements and redundancy schemes increase, reducing payload capacity
Solution Approach 1:
The universal actuator is designed to provide versatile control for multiple tool types through a single power source. The actuator can be dynamically reconfigured or programmed to control different tool tips, maintaining adaptability and versatility while consolidating power requirements into one system rather than requiring separate power sources for each tool
3Adaptability or versatility
If multiple actuators are used for each tool, then each tool can operate autonomously, but the system mass increases due to additional actuators and support structures
Solution Approach 1:
The patent employs a universal actuator that serves multiple tool functions, dramatically reducing the total number of actuators required. This universal design maintains operational autonomy for each tool tip while consolidating the actuation mass into a single unit, thereby reducing the overall system mass compared to having separate actuators for each tool
Solution Approach 2:
The actuator and tool tip interfaces are merged into an integrated system where the actuator can quickly exchange tool tips during operations. This merging allows the actuator to function as a multi-purpose device, combining what would otherwise require separate actuator units, thereby reducing total system mass while maintaining the ability to perform various tool operations
4Measurement precision
If multiple actuators are used for each tool, then each tool can be precisely controlled, but the cost of the robotic system increases
Solution Approach 1:
The universal actuator is designed with precision control capabilities that can be applied to multiple different tool tips. By using a single high-precision actuator rather than multiple lower-precision actuators, the system achieves the same overall control precision while reducing the total cost of the robotic system
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.