Humanoid Robot Leg Layout With Motors Above the Knee
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Solution Overview
Problem
Current humanoid robots are costly, cumbersome, and error-prone, lacking robustness and lightweight design.
Innovation Solution
A humanoid robot leg design featuring a shank, ankle joint, knee joint, and rotational motors positioned above the knee joint, with AR and KR transmission mechanisms that convert rotational motion to linear movement, including mechanical link protection units to prevent buckling, allowing for efficient and stable leg movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If motors and transmission mechanisms are positioned below the knee joint (conventional design), then the leg structure is more traditional and easier to manufacture, but the robot becomes cumbersome, heavier, and less stable
Solution Approach 1:
The patent inverts the conventional motor positioning by placing all rotational motors (ankle-related and knee-related) above the knee joint instead of below it. This inversion consolidates the heavy components in the upper portion of the leg, lowering the center of gravity and improving stability while reducing mechanical complexity in the lower leg structure
2Ease of operation
If multiple transmission mechanisms are used to convert rotational motion to linear movement, then precise control of ankle and knee joints is achieved, but the device becomes more complex and heavier
Solution Approach 1:
The patent merges multiple transmission functions into integrated mechanisms. The first transmission mechanism converts rotational motion from the ankle-related motor to linear movement, while the second transmission mechanism converts rotational motion from the knee-related motor to linear movement. These mechanisms are positioned above the knee joint and work in coordination, reducing overall system complexity while maintaining precise control
Solution Approach 2:
The patent introduces mechanical linkages as intermediary elements that connect the motors to the joints. These linkages include protection units that prevent buckling, serving as mediators that transmit force while protecting the system from mechanical failure, thereby simplifying the overall design
3Stability of the object's composition
If the center of gravity is positioned above the knee joint, then the robot achieves better balance and stability, but the leg structure becomes more compact and difficult to manufacture
Solution Approach 1:
The patent repositions components along the vertical dimension by placing all motors and transmission mechanisms above the knee joint. This dimensional reorganization concentrates mass in the upper portion of the leg, achieving the desired center of gravity position for improved balance while maintaining manufacturability through systematic component arrangement
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 achieves a robust, lightweight, and efficient humanoid robot leg structure with a center of gravity above the knee joint, enabling stable and compact movements with minimal impact on the robot's balance.
Implementation Method 1
an upper rotational to linear motion mechanism configured to convert a rotational motion of a AR rotational motor to a first linear movement that drives the upper link
Implementation Method 2
a mechanical link protection unit configured to prevent buckling of mechanical links of the lower AR transmission mechanism
Data Source
AI summary
A humanoid robot leg that may include a shank, an ankle that includes an ankle joint that is configured to perform yaw and pitch rotations, a knee joint, multiple ankle related (AR) rotational motors that are in mechanical communication, via multiple AR transmission mechanisms, with the ankle joint, and a knee related (KR) rotational motor that is in mechanical communication, via a KR transmission mechanism, with the knee joint. The multiple AR rotational motors and the KR rotational motor are positioned above the knee joint.