Active Clutch Mechanism for Single Actuator Hopping Robot
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Solution Overview
Problem
Conventional hopping mechanisms require at least two actuators to store and discharge elastic energy, leading to complexity and increased weight, making it difficult to control the height and timing of hopping movements.
Innovation Solution
An active clutch mechanism using a sun gear, planetary gear, and winding gear system, where the sun gear is connected to a motor, allowing energy to be stored and discharged using a single actuator by rotating the gears in opposite directions to wind and unwind a wire, enabling controlled energy storage and release.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional hopping mechanisms use at least two actuators to store and discharge elastic energy, then the energy storage and discharge function is achieved, but the system complexity increases and weight increases
Solution Approach 1:
The patent combines the functions of multiple actuators into a single actuator by integrating a sun gear, planetary gear, and winding gear mechanism. The single actuator drives the sun gear, which through planetary gear engagement with the winding gear, enables both energy storage (winding) and discharge (unwinding) functions that previously required separate actuators, thereby reducing system complexity while maintaining functionality
Solution Approach 2:
The single actuator system is designed to perform multiple functions: it can store elastic energy by winding the wire through the winding gear, discharge energy by unwinding, and control the timing of energy release. The planetary gear mechanism enables the same actuator to both wind and unwind the wire, providing multi-functionality that replaces what previously required multiple specialized actuators
2Reliability
If conventional hopping mechanisms use at least two actuators, then the hopping function is achieved, but the weight of the system increases
Solution Approach 1:
The patent merges multiple actuator functions into a single actuator-weight system. By using one actuator to drive the sun gear and planetary gear mechanism that controls the winding gear, the system achieves the hopping function with reduced weight compared to using two or more separate actuators, directly addressing the weight reduction goal
3Reliability
If conventional hopping mechanisms are used, then elastic energy can be stored and discharged, but the height control and hopping timing control becomes difficult
Solution Approach 1:
The planetary gear mechanism provides inherent feedback control for the winding and unwinding processes. As the sun gear rotates, the engagement and disengagement of the planetary gear with the winding gear automatically regulates the energy storage and release timing. This mechanical feedback system enables precise control of hopping height and timing without requiring complex external control systems
Solution Approach 2:
The mechanism uses dynamic engagement and disengagement of the planetary gear with the winding gear to control energy release timing. The planetary gear can selectively come into contact with or be spaced apart from the winding gear based on the rotation direction of the sun gear, providing dynamic control over when energy is stored and when it is discharged, thereby enabling precise hopping timing and height control
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The mechanism allows for adjustable height and controlled hopping using a single actuator, enabling the robot to hop at desired times by storing and discharging elastic energy efficiently.
Implementation Method 1
a planetary gear arranged to come into contact with the sun gear and configured to revolve around the sun gear, and which rotates around a rotation shaft spaced apart from the rotation shaft of the sun gear
Implementation Method 2
energy is stored in an energy storage portion connected to the winding gear
Data Source
AI summary
The present invention provides an active clutch mechanism and a hopping robot equipped with the same, the active clutch mechanism comprising: a sun gear; a planetary gear; and a winding gear. When the sun gear rotates in one direction, the planetary gear revolves around the sun gear in the one direction to come into contact with the winding gear, and then rotates the winding gear to wind a wire so as to store energy in an energy storage unit connected to the winding gear. When the sun gear rotates in a direction opposite to the one direction, the planetary gear revolves around the sun gear in the direction different from the one direction to become spaced from the winding gear, so as to discharge the energy stored in the energy storage unit.