Humanoid Robot Leg Structure with Multi-Axis Servo Joints
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional humanoid robots have limited flexibility in the connection between the waist and leg due to only two degrees of freedom, which restricts their movement and functionality.
Innovation Solution
A leg structure with first-stage and second-stage leg servos arranged oppositely and connected by assemblies that allow for increased rotational freedom, enhancing the flexibility and stability of the leg structure through rotatable connecting members and end covers, ensuring smooth rotation and firm connection between the leg and waist.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional two-degree-of-freedom connection is used between waist and leg, then device complexity is reduced, but flexibility and movement capability deteriorate
Solution Approach 1:
The leg structure is divided into multiple independent servo modules (first-stage leg servos and second-stage leg servos) that can rotate independently around different axes. Each servo acts as a segmented unit contributing to the overall multi-degree-of-freedom capability, allowing the leg to achieve complex movements through coordinated action of simpler individual components.
Solution Approach 2:
The patent transitions from a two-degree-of-freedom system to a three-degree-of-freedom system by adding rotation around a third axis (the axis formed by the first output shaft). This dimensional addition enables the leg to move in previously unreachable spatial configurations, significantly enhancing flexibility without requiring a complete redesign of the entire system.
2Adaptability or versatility
If first-stage and second-stage leg servos are arranged oppositely with rotatable connections, then flexibility and degrees of freedom are improved, but device complexity increases
Solution Approach 1:
The connecting assembly merges multiple functional elements into a single integrated structure that simultaneously provides mounting for both first-stage and second-stage leg servos, supports rotation around multiple axes, and maintains structural integrity. This consolidation reduces the number of separate components needed and simplifies the overall assembly process despite the increased functional complexity.
Solution Approach 2:
The connecting assembly serves multiple functions: it mounts both stages of leg servos, enables rotation around the first output shaft axis, provides structural support, and facilitates the transmission of rotational motion. This multi-functionality reduces the need for separate dedicated components for each function, thereby managing complexity while achieving three degrees of freedom.
Data Source
AI summary
A leg structure includes: a pair of first-stage leg servos connected to the waist structure, each of the first-stage leg servos including a first output shaft; second-stage leg servos corresponding to and arranged opposite to the first-stage leg servos, the second-stage leg servos including second output shafts perpendicular to the first output shaft; a pair of connecting assemblies each used for mounting one of the first-stage leg servos and one of the second-stage leg servos, the connecting assemblies each including a connecting member for mounting one end of the first output shaft and one end of the second output shaft, a first end cover fixed to the connecting member and used for mounting the other end of the first output shaft, and a second end cover fixed to the connecting member and used for mounting the other end of the second output shaft.