Pinless Anatomical Robot Joints for Multi-Axial Motion
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Solution Overview
Problem
Conventional robot designs relying on revolute joints are limited in flexibility and motion range, often resulting in awkward movements and reduced functionality, as they fail to accurately mimic the complex motions of the human body, which are essential for tasks like grasping and manipulation.
Innovation Solution
The development of anatomical robot joints that incorporate rocking, slipping, and twisting motions, without the use of pins or axles, allowing for more compliant and flexible structures that mimic human anatomy, enabling a wider range of motion and increased manipulation functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If revolute joints with pins or axles are used, then the joint structure is simple and easy to manufacture, but the motion range is limited and flexibility is reduced
Solution Approach 1:
The patent removes the pin or axle from the joint structure entirely, replacing it with a pinless mechanism where two structures are coupled directly through complementary geometric surfaces. This extraction of the traditional fastening element enables multi-axial motion while maintaining structural simplicity.
Solution Approach 2:
The patent employs curved or spherical contact surfaces at the joint interface, allowing rocking and twisting motions in multiple directions. The geometric design of these curved surfaces enables the structures to articulate with respect to each other about multiple axes simultaneously, providing human-like flexibility without complex mechanical components.
2Adaptability or versatility
If multiple revolute joints with orthogonal axes are arranged to mimic human motion, then the motion complexity increases, but the device complexity and friction increase
Solution Approach 1:
The patent merges multiple revolute joint functions into a single pinless joint structure. By designing complementary geometric surfaces that allow simultaneous rocking and twisting motions, the invention consolidates what would traditionally require multiple orthogonal revolute joints into one integrated articulation point, reducing overall device complexity.
Solution Approach 2:
The pinless joint structure serves multiple functions simultaneously: it provides rocking motion, twisting motion, and multi-axial articulation all through a single joint design. This universal joint can replace several specialized revolute joints, simplifying the overall robotic structure while maintaining human-like motion capabilities.
3Stability of the object's composition
If pins or axles are used to hold structures together, then the joint is stable and easy to model computationally, but the friction is high and motion is restricted to a single axis
Solution Approach 1:
The patent extracts the pin or axle element that causes friction and restricts motion, replacing it with a direct structural coupling through geometric surfaces. This elimination of the intermediate fastening element removes the primary source of friction while maintaining joint stability through precise geometric fit.
Solution Approach 2:
The patent replaces the traditional mechanical pin-and-hole connection system with a geometric surface-based coupling system. Instead of using a cylindrical pin that rotates within a bore, the invention uses complementary shaped surfaces that rock and twist against each other, substituting a high-friction mechanical connection with a lower-friction geometric interface.
Data Source
AI summary
A robot having anatomical robot joints with convex surfaces significantly less in average overall curvature than their corresponding concave surfaces; having single lobe, double lobe, or saddle shapes; and held together by flexible bands that allow rocking, slipping, and twisting types of motion.