Telescopic Robot Actuation With Self-Spooling Chain Reach
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Solution Overview
Problem
Traditional actuation systems for telescopic structures in robots are complex, heavy, and expensive, limiting their ability to sense interaction forces and access cluttered environments, making them unsuitable for assistive robotic applications.
Innovation Solution
An actuation system that uses a self-spooling chain cartridge and a drive chain with interconnected links to actuate a telescopic structure, allowing for horizontal extension and retraction, and vertical motion, with a compact design that includes data, power, and pneumatic cables, enabling greater degrees of freedom and accuracy.
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 provided, but the system becomes large, heavy, and expensive with compounding gravity effects on proximal joints
Solution Approach 1:
The patent replaces traditional revolute actuated joints with a telescopic structure that uses linear motion along the arm's longitudinal axis. This substitution eliminates the need for high-ratio gearboxes and complex mechanical support structures, significantly reducing the weight and size of the actuation system while maintaining articulated reach capability
Solution Approach 2:
The invention introduces a new dimension of motion by using telescopic extension along the longitudinal axis of the arm rather than traditional rotational joints. This dimensional change allows the system to achieve reach without the compounding gravity effects that plague proximal rotational joints in traditional systems
2Adaptability or versatility
If traditional actuation systems are used, then articulated motion is achieved, but the system complexity and cost increase making it unsuitable for assistive applications
Solution Approach 1:
The actuation system is divided into independent telescopic segments that can extend and retract along the arm's longitudinal axis. Each segment operates independently with its own actuator, eliminating the need for complex mechanical linkages and high-ratio gearboxes required in traditional systems, thereby reducing overall system complexity
Solution Approach 2:
The telescopic structure serves multiple functions: it provides articulated reach, integrates cable routing for actuation forces, and incorporates sensor pathways all within a single structural element. This multi-functionality reduces the number of separate components needed, simplifying the overall system design
3Force
If traditional actuation systems with high-ratio gearboxes are used, then actuation force is amplified, but the system becomes less sensitive to interaction forces and requires complex sensor architectures
Solution Approach 1:
The patent extracts the high-ratio gearbox from the system entirely, using direct-actuation on the telescopic segments instead. This removal eliminates the force amplification mechanism that desensitizes traditional systems to interaction forces, allowing for simpler and more precise force sensing through direct measurement of actuator currents and telescopic segment positions
4Volume of moving object
If telescopic structure with slender cross section is used, then access to cluttered environments is improved, but structural support against gravity becomes challenging
Solution Approach 1:
The patent replaces traditional mechanical support structures with cable-based actuation that can provide both actuation force and structural support. The cables are routed through the telescopic segments, allowing for force transmission and structural integrity maintenance without requiring a bulky cross-section
Data Source
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AI summary
Actuation systems and methods for actuating a telescopic structure are provided. The actuation system includes a chain cartridge (105) including a drive chain (110) engageably coupled to a drive mechanism (115) actuated by an actuator (120) coupled to a power supply (125). The drive chain includes a plurality of inter-connected links (130) conveying at least one cable within an interior space of each inter-connected link. The system also includes a telescopic structure (140) including a plurality of segments (145) configured to extend and retract telescopically and conveying the drive chain therein. The drive chain couples to a distal segment (150) of the plurality of segments. The drive mechanism is configured to impart a linear translation force on the plurality of inter-connected links to cause the distal segment to extend or retract from the telescopic structure. A method of actuating an actuation system comprises the steps of receiving, by a data processor, first, second and third inputs, corresponding to: an interaction force exerted upon at least one segment of a plurality of segments of a telescopic structure of the actuation system, a maximum interaction force of the at least one segment, and an actuation force (Fo) to be exerted by the at least one segment, respectively. Each of the inputs includes a corresponding first, second or third current value. The method further comprises determining, by the data processor, an actuation signal including a fourth current value and providing the actuation signal to the first actuator.