Telescoping Robotic End Effector for Confined-Space Positioning
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Solution Overview
Problem
Existing robotic solutions face challenges in accessing and performing tasks within confined spaces, such as aircraft wing interiors, due to difficulties with positioning, alignment, footprint size, and range of motion, leading to issues like foreign object debris and ergonomic discomfort for technicians.
Innovation Solution
A portable programmable machine with a telescoping arm and articulating wrist, equipped with a vision system and debris retention structure, allows for autonomous or semi-autonomous task performance within confined spaces, using a modular design to accommodate various tasks and access ports, and includes a power source and programmable computer for precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If technicians manually access confined spaces to perform tasks, then task completion is achieved, but ergonomic discomfort and safety risks increase
Solution Approach 1:
The patent replaces the mechanical system of manual technician access with an automated robotic end effector system. The robotic system includes a robotic arm with multiple degrees of freedom, end effectors for performing tasks, and a control system that eliminates the need for technicians to physically enter confined spaces, thereby resolving the contradiction between task completion and ergonomic comfort.
Solution Approach 2:
The patent introduces a robotic end effector as an intermediary between the operator and the confined space. The system includes a robotic arm, end effectors, and control systems that mediate the interaction, allowing tasks to be performed without direct human entry into the confined space, thus resolving the ergonomic discomfort while maintaining productivity.
2Extent of automation
If existing robotic solutions are used to access confined spaces, then automation is achieved, but positioning accuracy and alignment precision deteriorate
Solution Approach 1:
The patent employs a robotic arm with multiple degrees of freedom that provides dynamic positioning capability. The system includes actuators and control systems that enable precise movement and adjustment of the end effector within the confined space, allowing the robotic system to achieve accurate positioning and alignment while maintaining automation.
Solution Approach 2:
The patent incorporates vision systems and sensors that provide real-time feedback on the position and orientation of the end effector. This feedback is used by the control system to adjust and refine positioning, ensuring high manufacturing precision while the system operates autonomously, thus resolving the contradiction between automation and positioning accuracy.
3Extent of automation
If existing robotic solutions are used in confined spaces, then automation is achieved, but the footprint and range of motion become insufficient
Solution Approach 1:
The patent divides the robotic system into modular components including a robotic arm with multiple segments, interchangeable end effectors, and separate control systems. This segmentation allows the system to be configured with appropriate range of motion for specific confined spaces and enables adaptation to different task requirements, resolving the contradiction between automation and adaptability.
Solution Approach 2:
The patent designs a universal robotic platform that can perform multiple tasks through interchangeable end effectors and configurable robotic arms. The system is designed to adapt to different confined space geometries and task requirements, providing both automation and versatility through its multi-functional capability.
4Productivity
If tasks are performed within confined spaces, then work completion is achieved, but foreign object debris is generated
Solution Approach 1:
The patent incorporates debris management systems that capture and contain foreign object debris generated during tasks. The system includes debris containment features and removal mechanisms that convert the harmful effect of debris generation into a controlled process, allowing work completion while minimizing debris contamination in the confined space.
Data Source
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AI summary
A portable work module includes a combination of prismatic and revolute joints (47/45) for positioning and orienting a robotic end effector for performing a task within confined space (17). For example, the portable work module may include telescoping arm (52) integrated with wrist (70) having a plurality of degrees of freedom with respect to telescoping arm (52). The portable work module includes an insert that is secured with respect to an access port of confined space (17), said access port serving as a reference location for calculating the position of the robotic end effector within confined space (17). The portable work module is configured to have a compacted configuration for insertion into confined space (17), and an extended configuration for performing tasks within confined space (17). In some examples, the portable work module is modular, such that the robotic end effector or other components may be selectively removed and replaced.