Integrated Actuator Layout for High-Torque Precision Robotics
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Solution Overview
Problem
Existing actuators for robots face challenges in achieving high precision and high torque while maintaining a compact and lightweight design, often resulting in low efficiency and high inertia, which complicates precise movement.
Innovation Solution
The actuator design incorporates a motor with a housing and a drive shaft, along with first and second torque transfer devices, such as pulleys and gears, to transfer torque efficiently, allowing the motor housing to rotate relative to the second shaft axis, thereby reducing the overall volume and improving mechanical advantage, stability, and precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a motor and gear box are designed and built separately, then the gear box can be optimized for torque multiplication, but the axial extent of the overall actuator arrangement becomes large
Solution Approach 1:
The motor and gear box are merged into a single integrated actuator arrangement, where the motor housing directly incorporates the gear box components. This eliminates the need for separate mounting and reduces the overall axial extent while maintaining torque multiplication capability through internal gear mechanisms.
Solution Approach 2:
The gear box components are nested within the motor housing structure, with gears and shafts arranged concentrically around the motor shaft. This nested arrangement allows the gear box to occupy the radial space rather than extending axially, reducing the overall length of the actuator.
2Force
If high torque is achieved through traditional motor and gear box arrangements, then the required torque can be delivered, but the precision of movement is reduced due to high inertia
Solution Approach 1:
The actuator employs a dynamic architecture where the motor housing itself rotates about the drive shaft axis, creating a moving reference frame. This dynamic configuration reduces the effective inertia of the system by allowing the housing to absorb rotational momentum, thereby improving movement precision while maintaining high torque output.
Solution Approach 2:
The invention introduces a second rotational degree of freedom by allowing the motor housing to rotate about the drive shaft axis, in addition to the normal rotation of the drive shaft. This dimensional change distributes the inertial effects across two rotational axes, reducing the impact on movement precision.
3Stability of the object's composition
If the motor housing is made stationary for stability, then the structure is simplified, but the volume of the actuator increases
Solution Approach 1:
The motor housing transitions from a stationary component to a dynamically rotating component about the drive shaft axis. This dynamic role allows the housing to serve dual functions: providing structural support while simultaneously participating in torque transfer and reducing inertial effects, thereby reducing the overall volume required.
Solution Approach 2:
The motor housing is designed to perform multiple functions: it provides structural support, serves as a mounting surface for stator components, acts as a torque transfer element, and rotates to reduce inertial effects. This multi-functionality eliminates the need for separate components, reducing the overall actuator volume.
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 results in a more compact, efficient, and stable actuator that provides improved precision and mechanical advantage, suitable for use in robotic arms by optimizing torque transfer and reducing inertia, enhancing the actuator's performance in robotic applications.
Implementation Method 1
a motor having a housing and a drive shaft, the motor arranged to rotate the drive shaft relative to the housing about a drive shaft axis
Implementation Method 2
a first torque transfer device arranged to transfer torque from the drive shaft to a second shaft... and an output torque transfer device arranged to transfer torque from the second shaft to the housing of the motor
Data Source
AI summary
An actuator comprising: a motor having a housing and a drive shaft, the motor arranged to rotate the drive shaft relative to the housing about a drive shaft axis; a first torque transfer device arranged to transfer torque from the drive shaft to a second shaft, the second shaft being rotatable about a second shaft axis parallel to and radially spaced from the drive shaft axis; and an output torque transfer device arranged to transfer torque from the second shaft to the housing of the motor; wherein, upon rotation of the drive shaft relative to the motor housing, the housing of the motor is arranged to rotate relative to the position of the second shaft axis.