Humanoid Robot Wrist and Hand Articulation With Direct-Drive Joints
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Solution Overview
Problem
Existing humanoid robot designs face challenges in achieving a balance between functionality, durability, and energy efficiency, particularly in mimicking human-like movements and handling complex tasks with limited resources, and struggle with integrating multiple degrees of freedom in a compact form factor while maintaining structural integrity and range of motion.
Innovation Solution
A humanoid robot design featuring a torso with advanced arm assemblies, end effectors, and wrists with enhanced articulation ranges, distributed degrees of freedom, and a direct drive linkage system, combined with artificial intelligence algorithms for precise control and adaptability, enabling efficient manipulation of objects in diverse environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If complex systems of cables, pulleys, or hydraulics are used to actuate joints, then the robot can achieve human-like range of motion, but the system becomes prone to wear, requires frequent maintenance, and consumes substantial power
Solution Approach 1:
The patent replaces traditional mechanical actuation systems (cables, pulleys, hydraulics) with direct-drive electric motors at each joint. This substitution eliminates wear-prone mechanical transmission components while maintaining the required range of motion through electronic control, directly resolving the contradiction between adaptability and reliability
Solution Approach 2:
The robot employs independent actuators at each joint rather than a centralized mechanical system. This segmentation allows each joint to be controlled independently with its own motor, eliminating the need for complex interconnected mechanical systems that are prone to wear and failure
2Adaptability or versatility
If multiple degrees of freedom are integrated in a compact form factor, then the robot can replicate human movements, but maintaining structural integrity and range of motion becomes challenging
Solution Approach 1:
The robot's limbs are divided into multiple segments with independent degrees of freedom at each joint (shoulder, elbow, wrist, fingers). Each segment is actuated by its own motor, allowing complex human-like movements to be achieved through coordinated action of simpler, more manageable components that maintain structural integrity
Solution Approach 2:
The patent achieves compact form factor by arranging multiple degrees of freedom in three-dimensional space rather than linear sequences. The wrist and finger assemblies utilize spatial arrangement to pack multiple rotational axes and joints into a compact volume while maintaining full range of motion and structural strength
3Use of energy by moving object
If the robot uses limited battery power resources, then energy efficiency is improved, but the ability to perform tasks requiring substantial power becomes constrained
Solution Approach 1:
The robot employs periodic duty cycling where actuators are activated only when needed for specific tasks rather than continuous operation. The direct-drive motors can deliver high peak power during brief task execution periods while consuming minimal power during idle or transition phases, resolving the contradiction between energy efficiency and task execution capability
Data Source
AI summary
A humanoid robot includes a torso, a left arm assembly coupled to the torso and having a first reference line, a left wrist coupled to the left arm assembly and including at least a rotational axis, and a left end effector coupled to the left wrist. The left end effector is configured to move about the rotational axis and includes a finger assembly with a second reference line and at least two degrees of freedom, and a thumb assembly with at least three degrees of freedom. A first angle is formed between the first and second reference lines when the left wrist is in a first configuration, and a second angle is formed when the left wrist is in a second configuration. Both the first and second angles are greater than 70 degrees, and the difference between the first and second angles is greater than 150 degrees.