Humanoid Robot Joint Layout for Compact High-Flexibility Motion
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Solution Overview
Problem
Existing simulation robots face challenges in achieving a compact structure layout, high joint integration, and flexibility, particularly in humanoid bipedal robots, which affect their performance and versatility.
Innovation Solution
A high-flexibility simulation robot design featuring a head mechanism with two degrees of freedom, arm mechanisms with four degrees of freedom each, a hip mechanism with one degree of freedom, and leg mechanisms with six degrees of freedom each, all connected to a trunk mechanism with a main controller and battery pack, and powered by drive motors for enhanced motion capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the robot uses a compact structure layout with high joint integration, then the overall layout compactness improves, but the device complexity increases
Solution Approach 1:
The patent integrates multiple drive motors and control systems into the trunk mechanism, merging previously separate components into a unified structure. The trunk mechanism serves as a central hub that coordinates head, arm, hip, and leg movements through integrated control, reducing overall spatial requirements while maintaining functional complexity.
Solution Approach 2:
The trunk mechanism is designed as a multi-functional platform that not only supports the robot's body but also houses the main controller, battery pack, and serves as the coordination center for all limb movements. This universal design consolidates multiple functions into a single structural element, improving compactness without proportionally increasing complexity.
2Adaptability or versatility
If the robot increases the degrees of freedom in arm and leg mechanisms, then the flexibility improves, but the device complexity increases
Solution Approach 1:
The arm and leg mechanisms are divided into distinct modular segments with specific degrees of freedom. Each limb is independently controlled through dedicated drive motors connected to the trunk mechanism, allowing high flexibility in movement while managing complexity through modular segmentation rather than monolithic design.
Solution Approach 2:
The robot employs dynamic control where the trunk mechanism actively coordinates the movements of multiple limbs with varying degrees of freedom. The system adapts its control strategy in real-time, allowing the complex multi-DOF mechanisms to operate flexibly while the centralized control manages the overall complexity.
3Volume of moving object
If the robot integrates all drive motors and control systems in the trunk, then the overall layout compactness improves, but the weight of the moving object increases
Solution Approach 1:
The trunk mechanism is designed as a multi-functional platform that not only supports the robot's body but also houses the main controller, battery pack, and serves as the coordination center for all limb movements. This universal design consolidates multiple functions into a single structural element, improving compactness without proportionally increasing complexity.
Data Source
AI summary
Disclosed is a high-flexibility simulation robot, where a left arm mechanism has four degrees of freedom of motion: the left arm mechanism performs rotation motion relative to a trunk mechanism, the left arm mechanism performs pitching motion relative to the trunk mechanism, an upper arm of the left arm mechanism rotates, and an elbow of the left arm mechanism swings forwards; a right arm mechanism has four degrees of freedom of motion: the right arm mechanism performs rotation motion relative to the trunk mechanism, the right arm mechanism performs pitching motion relative to the trunk mechanism, an upper arm of the right arm mechanism rotates, and an elbow of the right arm mechanism swings forwards; a hip mechanism has one degree of freedom of motion: the hip mechanism performs rotation motion relative to the trunk mechanism.