Humanoid Arm Assembly With Single-Servo Hand Transmission

Solution Overview

Problem

Humanoid robots require multiple servos to achieve the necessary rotational degrees of freedom, which increases complexity and cost.

Innovation Solution

A robot arm assembly design that uses a single servo to drive both the upper arm and hand through a novel transmission mechanism, including a rotary joint and hand transmission mechanism, allowing for coordinated motion with reduced servo count.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If multiple servos are used to provide rotational degrees of freedom for humanoid robot actions, then the robot achieves better motion capability and dexterity, but the device complexity and cost increase

Engineering Contradiction:

Improvemotion capabilityVSAvoidservo count

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

A single servo unit is designed to perform multiple functions by providing both upper arm rotation and hand rotation capabilities. The servo unit includes a servo motor, drive wheel, and hand transmission mechanism that work together to achieve two rotational degrees of freedom, making one component serve multiple purposes in the robotic arm system

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent combines the upper arm rotation mechanism and hand rotation mechanism into a single integrated servo unit. The drive wheel from the servo motor directly engages with the hand transmission mechanism, merging two separate actuation systems into one unified structure that reduces overall component count and simplifies the robotic arm assembly

Inventive Principle:

Principle #5Merging (Combining)

2Adaptability or versatility

If multiple servos are used to provide rotational degrees of freedom, then the robot achieves better motion capability, but the cost increases

Engineering Contradiction:

Improvemotion capabilityVSAvoidcost

Core Design Contradiction:

Adaptability or versatilityVSQuantity of substance

Solution Approach 1:

A single servo unit is designed to perform multiple functions by providing both upper arm rotation and hand rotation capabilities. The servo unit includes a servo motor, drive wheel, and hand transmission mechanism that work together to achieve two rotational degrees of freedom, making one component serve multiple purposes in the robotic arm system

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The patent combines the upper arm rotation mechanism and hand rotation mechanism into a single integrated servo unit. The drive wheel from the servo motor directly engages with the hand transmission mechanism, merging two separate actuation systems into one unified structure that reduces overall component count and simplifies the robotic arm assembly

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS10927931B2Robot and arm assembly thereof

Publication Date: 2021.02.23 UBTECH ROBOTICS CORP LTD

AI summary

An arm assembly of a robot includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, a hand connected to an end of the forearm and rotatable about a first axis extending along a lengthwise direction of the forearm; and a hand transmission mechanism configured to transmit motion from the servo to the hand so as to drive the hand to rotate about the first axis.