Actuator Arrangement Torque Transfer Compact Design
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Solution Overview
Problem
Existing actuators for robotic arms face challenges in achieving high precision and high torque while maintaining a compact and lightweight design, often resulting in large axial extent and low efficiency.
Innovation Solution
The actuator design incorporates a motor with a housing and drive shaft, a first torque transfer device to transfer torque from the drive shaft to a second shaft, and an output torque transfer device to transfer torque from the second shaft to the motor housing, allowing for compactness and high mechanical advantage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a motor and gear box are designed and built separately, then the gear box can be optimized for torque multiplication, but the axial extent of the overall actuator arrangement becomes large
Solution Approach 1:
The patent integrates the motor and gear box into a single unified actuator arrangement, where the motor is positioned within the gear box structure. This merging eliminates the need for separate motor and gear box assemblies, thereby reducing the overall axial extent while maintaining torque multiplication capabilities through the integrated design.
2Force
If the gear box is designed to multiply torque, then high torque output is achieved, but the device complexity increases
Solution Approach 1:
The actuator housing serves multiple functions: it acts as the gear box enclosure, provides mounting structures for the motor and gears, and serves as part of the torque transmission path. This multi-functionality reduces the number of separate components needed, thereby simplifying the overall device complexity while maintaining torque multiplication.
3Force
If traditional motor and gear box arrangements are used, then torque can be increased, but the precision of movement decreases due to high inertia
Solution Approach 1:
The patent employs a planetary gear mechanism that provides high torque multiplication with relatively low inertia. The planetary arrangement allows for compact gear teeth engagement and efficient torque transmission, reducing the inertial effects that would otherwise degrade movement precision while maintaining high torque output capability.
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
This design enables a more compact actuator with improved mechanical advantage, precision, and efficiency, suitable for use in robotic arms without increasing size or weight.
Implementation Method 1
a motor having a housing and a drive shaft, the motor arranged to rotate the drive shaft relative to the housing about a drive shaft axis
Implementation Method 2
a first torque transfer device arranged to transfer torque from the drive shaft to a second shaft
Implementation Method 3
an output torque transfer device arranged to transfer torque from the second shaft to the housing of the motor
Data Source
Figure 1
Figure 2
Figure 3
AI summary
An actuator comprising: a motor having a housing and a drive shaft, the motor arranged to rotate the drive shaft relative to the housing about a drive shaft axis; a first torque transfer device arranged to transfer torque from the drive shaft to a second shaft, the second shaft being rotatable about a second shaft axis parallel to and radially spaced from the drive shaft axis; and an output torque transfer device arranged to transfer torque from the second shaft to the housing of the motor; wherein, upon rotation of the drive shaft relative to the motor housing, the housing of the motor is arranged to rotate relative to the position of the second shaft axis.