Seven-DOF Humanoid Robotic Arm for Bionic Joint Motion Control
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Solution Overview
Problem
Conventional humanoid robotic arms have limitations in bionic degree, mechanical complexity, flexibility, and control precision due to limited degrees of freedom and insufficient output torque, making them unsuitable for high-precision operations.
Innovation Solution
A seven-degrees-of-freedom humanoid robotic arm design incorporating a combination of shoulder, elbow, and wrist joints with specific brushless DC electric motors, harmonic drives, and potentiometers to achieve a more bionic motion range and increased control precision, including a shoulder pitching, yawing, and rolling joint, an elbow pitching and rolling joint, and a wrist yawing and pitching joint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the robotic arm uses a six-degree-of-freedom structure with one DOF for wrist, then the mechanical structure is simpler, but the bionic degree is low and the wrist cannot well simulate human wrist motion
Solution Approach 1:
The robotic arm is divided into seven independent degrees of freedom, with the wrist specifically segmented into two DOFs (wrist pitching and wrist yawing joints). This segmentation allows the wrist to independently control pitching and yawing motions, accurately simulating human wrist biomechanics while maintaining modular mechanical structure.
2Adaptability or versatility
If the robotic arm increases the degrees of freedom to improve bionic degree, then the bionic simulation improves, but the mechanical structure becomes more complex
Solution Approach 1:
The patent combines seven degrees of freedom into a integrated robotic arm system where shoulder (3 DOFs), elbow (2 DOFs), and wrist (2 DOFs) work together as a unified mechanism. This merging approach achieves high bionic fidelity while managing mechanical complexity through coordinated joint design and control.
3Adaptability or versatility
If the robotic arm uses a complex mechanical structure to increase flexibility, then the motion range improves, but the stress on the robotic arm increases and service life is reduced
Solution Approach 1:
The robotic arm employs seven dynamically independent degrees of freedom that can be activated based on task requirements. This dynamic configuration allows the system to achieve high flexibility and motion range while reducing unnecessary mechanical stress by only activating required joints during operation, thereby extending service life.
4Measurement precision
If the robotic arm increases the degrees of freedom to seven, then the control precision improves, but the device complexity increases
Solution Approach 1:
Each of the seven degrees of freedom is equipped with a potentiometer that provides real-time feedback on joint position to the control system. This feedback mechanism enables precise control of each joint's motion, achieving high overall control precision while managing the complexity of the seven-DOF system through distributed sensing and 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 design enhances the bionic simulation of human motion, increases the degrees of freedom, and significantly improves control precision and output torque, enabling the robotic arm to perform complex tasks with higher flexibility and precision.
Implementation Method 1
a first brushless DC electric motor, a first harmonic drive
Implementation Method 2
a first harmonic drive, a second harmonic drive, a third harmonic drive
Implementation Method 3
a first potentiometer which are sequentially connected
Data Source
AI summary
The present invention relates to robots and discloses a seven-degrees-of-freedom humanoid robotic arm, including an upper arm component and a forearm component. One end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder. One end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component, and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand. The seven-degrees-of-freedom humanoid robotic arm of the present invention achieves a highly bionic design of a spherical joint of human shoulder, elbow and wrist joints.