Telescopic Actuation Control for Force-Sensing Robot Reach
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Solution Overview
Problem
Traditional actuation systems for telescopic structures in robots are complex, expensive, and heavy, limiting their ability to sense interaction forces and access cluttered environments, and are not suitable for personal, assistive robots due to high costs and user experience issues.
Innovation Solution
A telescopic actuation system with a drive chain and self-supporting actuators that extend horizontally, using a drive mechanism to actuate multiple degrees of freedom with enhanced force sensing and reduced complexity, allowing access to cluttered environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If traditional actuation systems with revolute actuated joints are used, then articulated reach is achieved, but the system becomes large, heavy, and expensive with compounding gravitational loads on proximal joints
Solution Approach 1:
The patent inverts the traditional approach by using a telescopic structure that extends horizontally and is self-supporting against gravity, rather than using revolute joints that must support gravitational loads. This inversion allows the use of smaller, lighter actuators while achieving comparable or greater reach.
Solution Approach 2:
The patent transitions from rotational movement in multiple axes (traditional robot arms) to linear extension in one dimension (telescopic structure). This dimensional change simplifies the actuation system while maintaining articulated reach capability through multiple segments.
2Adaptability or versatility
If traditional actuation systems with multiple revolute joints are used, then articulated movement is achieved, but the system complexity and cost increase significantly
Solution Approach 1:
The patent inverts the traditional approach by using a telescopic structure that extends horizontally and is self-supporting against gravity, rather than using revolute joints that must support gravitational loads. This inversion allows the use of smaller, lighter actuators while achieving comparable or greater reach.
Solution Approach 2:
The patent transitions from rotational movement in multiple axes (traditional robot arms) to linear extension in one dimension (telescopic structure). This dimensional change simplifies the actuation system while maintaining articulated reach capability through multiple segments.
3Strength
If traditional actuation systems are used, then structural strength is maintained, but the system becomes unsafe to actuate around people due to high forces
Solution Approach 1:
The patent inverts the traditional approach by using a telescopic structure that extends horizontally and is self-supporting against gravity, rather than using revolute joints that must support gravitational loads. This inversion allows the use of smaller, lighter actuators while achieving comparable or greater reach.
4Length of moving object
If traditional actuation systems are used, then reach is achieved, but the system cannot access cluttered environments due to large size
Solution Approach 1:
The patent divides the telescopic structure into multiple segments that can extend and retract independently. This segmentation allows the structure to navigate cluttered environments by extending through gaps and spaces that would be inaccessible to a traditional rigid robot arm of equivalent reach.
Solution Approach 2:
The patent inverts the traditional approach by using a telescopic structure that extends horizontally and is self-supporting against gravity, rather than using revolute joints that must support gravitational loads. This inversion allows the use of smaller, lighter actuators while achieving comparable or greater reach.
Data Source
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AI summary
A method for actuating an actuation system includes receiving first, second, and third inputs by a data processor. The first input corresponds to an interaction force exerted upon at least one segment of a plurality of segments of a telescopic structure, and includes a first current value supplied to a first actuator. The second input is associated with a maximum interaction force of the at least one segment, and includes a second current value. The third input is associated with an actuation force to be exerted by the at least one segment, and includes a third current value. The data processor determines an actuation signal including a fourth current value less than the second current value and less than or equal to the third current value, causing the first actuator to actuate the at least one segment to exert the actuation force.