Variable Gravity Compensation Module with Curved Lever
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing gravity compensation systems for mobile manipulators face challenges in energy efficiency, volume reduction, and adaptability to variable loads, with conventional methods either degrading dynamic performance or requiring significant energy and complex structures.
Innovation Solution
A variable gravity compensation module with a curved lever, utilizing a housing, interlocking cam, and complex elastic unit, which includes a coil spring set and plate spring, designed to maximize torque and energy efficiency through systematic algorithms based on Lagrangian mechanics, allowing for compact and modular design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If gravity compensation apparatus uses link space for volume reduction, then occupied volume is reduced, but center of gravity changes resulting in dynamic performance degradation
Solution Approach 1:
The elastic unit is nested within the link structure, with the elastic follower positioned inside the link and the spring housed within a confined space. This nesting approach reduces the overall occupied volume while maintaining the gravitational torque compensation function without significantly affecting the center of gravity position.
2Adaptability or versatility
If variable gravity compensation apparatus adopts additional mechanism for torque variation, then variability is achieved, but energy consumption increases and device complexity increases
Solution Approach 1:
The apparatus achieves torque variability by changing the compression displacement parameter of the elastic unit. By adjusting the initial compression distance of the spring, different gravitational torque compensation levels are achieved without requiring additional energy-consuming actuators or complex variable mechanisms.
Solution Approach 2:
The elastic unit provides self-adjusting torque compensation based on the compression displacement. The system automatically adapts to different load conditions through the mechanical properties of the spring, eliminating the need for external energy input to maintain variability.
3Adaptability or versatility
If variable gravity compensation apparatus adopts additional mechanism for torque variation, then variability is achieved, but device complexity and volume increase
Solution Approach 1:
Torque variability is achieved by adjusting the compression displacement parameter of the existing elastic unit rather than adding variable mechanisms. This approach maintains device simplicity while providing adaptability to different gravitational torque requirements.
4Volume of moving object
If compact joint module is designed for mobile manipulator, then volume is reduced, but variability for different loads is lost
Solution Approach 1:
The compact joint module incorporates an adjustable elastic unit where the compression displacement can be varied. This parameter change capability allows the same compact structure to adapt to different load conditions, maintaining both volume efficiency and load variability.
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 solution significantly enhances energy efficiency, torque performance, and adaptability to various loads, reducing the volume and mass of the driving portion while enabling efficient gravity compensation across different robotic applications.
Implementation Method 1
an elastic unit (50) which is equipped within the housing (10) to provide elasticity to the curved lever (40)
Implementation Method 2
a coil spring set (60) in which a plurality of coil springs (65) are connected in parallel
Implementation Method 3
a plate spring (70) which is disposed in series with the coil spring set (60)
Data Source
AI summary
The present invention relates to a complex elastic unit for maximizing space utilization and elastic energy storage with a limited space and a variable gravity compensation module with the complex elastic unit and a curved lever, more particularly to variable gravity compensation apparatus with a curved lever, characterized by comprising: a housing; an interlocking cam which is installed to the housing, being rotated by a load; a curved lever which is rotated interlocked with the rotation of the interlocking cam and which provides elasticity to rotate the interlocking cam toward an initial position; an adjustment unit which adjusts a position of a pivot which is a center of rotation of the curved lever, allowing moving the pivot according to strength of load; and an elastic unit which is equipped within the housing to provide elasticity to the curved lever, wherein a driving end which is adhered to the interlocking cam is formed on one end of the curved lever with respect to the pivot, a driven end which is adhered to an elastic follower equipped to the elastic unit is formed on the other end thereof, and the driven end is configured into a curved shape that a sectional side surface connecting the pivot to the elastic follower has a particular curvature.