Common Joint Design for Dexterous Robot Manipulation
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Solution Overview
Problem
Current robotics platforms face challenges in achieving both dexterous manipulation and versatile mobility, particularly in navigating inhospitable terrain, as existing designs often compromise on stability and flexibility.
Innovation Solution
The development of a robotics platform with a common joint design incorporating an azimuth actuator, three offset elbow joints, and a cam hand assembly, equipped with a power-on-to-disengage safety brake and position sensors, allows for greater than 360-degree rotation and versatile grasping capabilities, enabling both mobility and manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple different joint designs are used to achieve dexterous manipulation and versatile mobility, then the robot's capability is improved, but the device complexity and maintenance difficulty increase
Solution Approach 1:
The patent applies universality by designing a common joint architecture that serves multiple functions. The same joint design is used across different limbs and configurations (ATHLETE with six 6-DOF limbs, LEMUR with six 4-DOF limbs), allowing the robot to perform both manipulation and mobility tasks with standardized components, thereby reducing complexity while maintaining versatility
2Adaptability or versatility
If multiple different joint designs are used to achieve dexterous manipulation and versatile mobility, then the robot's capability is improved, but the ease of repair and production cost increase
Solution Approach 1:
The patent implements universality through standardized joint designs that can be repaired and maintained using the same procedures and parts across different robot configurations. The common joint architecture with consistent actuator types and sensor configurations simplifies training for maintenance personnel and reduces the variety of spare parts needed
3Adaptability or versatility
If offset actuators are used to enable greater than 360 degree rotation, then the robot's mobility is improved, but the device complexity increases
Solution Approach 1:
The patent applies asymmetry through offset actuator configurations that enable greater than 360-degree rotation. The actuators are positioned asymmetrically relative to the joint axis, allowing the limb to rotate through angles exceeding 360 degrees while maintaining a standardized joint design. This asymmetric arrangement resolves the contradiction by enabling enhanced mobility without requiring fundamentally different actuator types
Data Source
AI summary
Manipulators in accordance with various embodiments of the invention can be utilized to implement statically stable robots capable of both dexterous manipulation and versatile mobility. Manipulators in accordance with one embodiment of the invention include: an azimuth actuator; three elbow joints that each include two actuators that are offset to allow greater than 360 degree rotation of each joint; a first connecting structure that connects the azimuth actuator and a first of the three elbow joints; a second connecting structure that connects the first elbow joint and a second of the three elbow joints; a third connecting structure that connects the second elbow joint to a third of the three elbow joints; and an end-effector interface connected to the third of the three elbow joints.