Humanoid Robot Wrist Joint Wire Length Management
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Solution Overview
Problem
The existing power transmission mechanisms in humanoid robots face inefficiencies due to friction between wires and pulleys in the wrist joint, leading to reduced gripping force and limited movement displacement, which necessitates restrictive movement to maintain wire length and prevent frictional losses.
Innovation Solution
The design incorporates a wrist joint with guide members and connection members that maintain constant wire length, allowing independent operation of the wrist and finger joints, using a belt and reel system to transfer power efficiently and reduce friction through rolling-contact sections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the wrist joint is moved to increase movement displacement, then the flexibility of the robot hand is improved, but the length of the wires changes causing loss of control precision
Solution Approach 1:
A tube is introduced as an intermediary component to guide the wire through the wrist joint. The tube maintains a constant length wire path even when the wrist joint moves, preventing wire length changes and maintaining control precision while allowing full wrist movement displacement.
Solution Approach 2:
The wire transmission path is segmented into multiple sections by dividing it into segments that pass through separate tubes at different locations. This segmentation allows each tube to independently manage wire length in its section, maintaining overall wire length constancy during wrist movement.
2Measurement precision
If a tube is used to maintain wire length during wrist movement, then control precision is improved, but friction between the tube and wire increases causing power transmission loss
Solution Approach 1:
The system transitions from a static wire management approach to a dynamic one where tubes are positioned and oriented to adapt to wrist joint movement. The tubes are arranged to minimize bending and maintain optimal wire passage, reducing friction while preserving wire length constancy during movement.
Solution Approach 2:
Multiple tubes are arranged in different spatial dimensions and orientations to guide the wire through the wrist joint. This three-dimensional arrangement allows the wire to pass through multiple tubes at different angles, reducing friction in any single tube while maintaining overall wire length control.
3Length of moving object
If the movement displacement of the wrist joint is increased to improve flexibility, then the range of motion is improved, but the tube is excessively bent increasing friction and reducing power transmission efficiency
Solution Approach 1:
The tube configuration is designed to be dynamic, adapting its orientation and position based on wrist joint movement. The tubes are arranged to accommodate large movement displacements without excessive bending, maintaining power transmission efficiency across the full range of motion.
Solution Approach 2:
Multiple tubes are arranged in different spatial dimensions to distribute the wire path through three-dimensional space. This arrangement allows the wire to navigate large wrist movements without sharp bends in any single tube, reducing friction and maintaining power transmission efficiency even at maximum movement displacement.
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
This configuration enhances power transmission efficiency and movement displacement of the humanoid robot's hand, enabling precise control and increased gripping force without the need for motor compensation, suitable for various applications including medical and hazardous environments.
Implementation Method 1
friction may occur between the tube and the wire inserted into the tube
Implementation Method 2
using a belt and reel system to transfer power efficiently and reduce friction through rolling-contact sections
Data Source
AI summary
Disclosed is a humanoid robot capable of improving power transmission efficiency of a wire and movement displacement of a wrist joint by modifying the structure of the wrist joint serving as a passage for wires. The humanoid robot includes a robot hand including a power transmission device for transferring gripping force to finger members. The power transmission device includes connection members connecting an actuator to finger joints and guide members for guiding the connection members. The guide members include a first guide member coupled to a robot arm and a second guide member coupled to a hand body. The connection members are alternately wound around the first and second guide members. The gripping force is enhanced whereby a length of the connection members provided between the first and second guide members is constantly maintained even if the second guide member is shifted from the first guide member.