Telescopic Arm Stabilizer for Lab Robot Vibration Control
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Solution Overview
Problem
Existing robotic sample handling apparatuses face challenges in achieving a large travel range and stability when supporting heavy loads, particularly due to pendulum-like vibrations and long settling times when the telescoping arm is stopped.
Innovation Solution
A robotic sample handling apparatus with a telescoping arm equipped with a stabilizer element and a telescoping drive, utilizing guide rods and adjustable rollers to stabilize the telescoping plate, reducing vibrations and settling time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the telescoping part is made long to achieve large vertical travel range, then the travel range is improved, but the arm becomes unstable and exhibits pendulum-like vibrations when stopped
Solution Approach 1:
A telescoping part is introduced as an intermediary component between the robot arm and the end effector. This telescoping part can extend and retract independently, allowing the arm to maintain a shorter, more stable configuration while achieving extended reach when needed. The telescoping part absorbs the instability by being a dedicated, controllable extension rather than permanently lengthening the main arm structure.
Solution Approach 2:
The positioning system is segmented into multiple independent components: the main robot arm, the telescoping part, and the end effector. This segmentation allows each component to be optimized independently - the main arm for stability and speed, and the telescoping part for extended reach. The segmentation enables the arm to operate in a compact, stable configuration while the telescoping part provides the necessary vertical travel range.
2Force
If the telescoping part is extended to support heavy load, then the load capacity is improved, but vibrations increase and settling time becomes unacceptably long
Solution Approach 1:
The system dynamically adjusts the configuration of the telescoping part based on operational needs. When heavy loads are present, the telescoping part can be retracted to minimize its length and reduce pendulum effects, thereby decreasing settling time. When vertical travel range is needed and loads are lighter, the telescoping part extends to provide the necessary reach. This dynamic adjustment optimizes both load capacity and settling time.
Solution Approach 2:
The system performs preliminary positioning actions by extending or retracting the telescoping part before the main arm movement. This allows the arm to operate from a predetermined, stable position while the telescoping part absorbs the variability in reach requirements. By preparing the telescoping part in advance, the system minimizes vibrations and settling time during actual sample handling operations.
3Length of stationary object
If a compact positioning assembly is used to reduce height, then the device footprint is improved, but the absolute travel range becomes insufficient for large ranges
Solution Approach 1:
The telescoping part employs a nested structure where segments are arranged concentrically, allowing one segment to slide within another. This nesting enables the telescoping part to achieve a long extended length for large vertical travel range while maintaining a compact retracted profile that fits within the constraints of the positioning assembly height. The nested configuration allows the system to transition between compact and extended states without requiring proportionally large space in both configurations.
Data Source
Figure 1a
Figure 1b
Figure 1c
AI summary
The invention relates to a robotic sample handling apparatus for performing sample handling tasks in a laboratory environment, comprising a worktable for holding samples and a robot arm (130) which is controllable to be positioned in a horizontal XY plane parallel to the worktable and along a vertical Z-axis perpendicular to the worktable. The robot arm comprises a housing part (132) that is slidingly mounted to a support arm (120) of the apparatus and further comprises an upper assembly, which is slidingly mounted to the housing part (132) so as to be displaceable between a raised position and a lowered position. The upper assembly includes a top plate (133) and a base plate (135). The robot arm further comprises a telescoping plate (150) that is slidingly mounted to the upper assembly, so as to be displaceable between the top plate and the base plate, from a retracted position and an extended position. The robot arm is further provided with a stabilizer element (160) mounted to the base plate (135), whereby the stabilizer element comprises a first contact surface in contact with a first side (150a) of the telescoping plate and a second contact surface in contact with a second side of the telescoping plate, whereby the first and second sides define a thickness of the telescoping plate (150).