Integrated 3-DOF Robot Joint for Compact Precise Motion
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Solution Overview
Problem
Traditional multi-degree-of-freedom joints in robots are complex, bulky, costly, and prone to accumulative errors, affecting integration, weight, size, and control accuracy.
Innovation Solution
A joint apparatus with a base, output component, and integrated motor and transmission assemblies that enable three-degree-of-freedom motion, reducing complexity and improving energy transmission efficiency and control accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple independent joints are used to achieve different degrees of freedom, then the basic operation requirements are met, but the integration, weight, size and cost increase
Solution Approach 1:
The patent combines multiple independent joints into a single integrated multi-degree-of-freedom joint apparatus. The first transmission assembly and composite drive assembly are fixedly coupled to share a common base and output component, merging multiple joint functions into one unified structure that achieves three-degree-of-freedom motion while reducing overall complexity, weight, and size.
Solution Approach 2:
The output component serves multiple functions by enabling rotation about three mutually perpendicular axes through a single apparatus. The first transmission assembly and composite drive assembly work together to provide multi-degree-of-freedom motion capabilities, making the joint apparatus universal for various operation requirements without needing separate independent joints.
2Adaptability or versatility
If multiple independent joints are used to achieve different degrees of freedom, then the basic operation requirements are met, but the weight and size increase
Solution Approach 1:
The patent merges multiple joint structures into one integrated apparatus with a shared base and output component. The first transmission assembly and composite drive assembly are combined to achieve three-degree-of-freedom motion, significantly reducing the total weight compared to using multiple separate independent joints.
3Adaptability or versatility
If multiple independent joints are used to achieve different degrees of freedom, then the basic operation requirements are met, but the cost increases
Solution Approach 1:
The patent integrates multiple joint functions into a single apparatus with shared components (base, output component). The fixed coupling between the first transmission assembly and composite drive assembly reduces the number of separate parts and assembly steps, thereby reducing manufacturing complexity and overall cost.
4Device complexity
If traditional multi-degree-of-freedom joints are used, then the structure is established, but accumulative errors affect control accuracy
Solution Approach 1:
The patent combines multiple transmission paths into an integrated apparatus where the first transmission assembly and composite drive assembly share a common base and output component. This unified structure eliminates the accumulative errors that occur in traditional multi-joint systems, improving attitude control accuracy.
Solution Approach 2:
The patent incorporates sensors to detect the attitude of the output component and feeds this information back to the control system. This feedback mechanism enables real-time correction of positioning errors, compensating for any manufacturing tolerances and maintaining high control accuracy.
Data Source
AI summary
Embodiments of the disclosure provide a joint apparatus for a robot and a robot. The joint apparatus includes a base; an output component arranged to be rotatable about mutually perpendicular three axes for three-degree-of-freedom motion, the output component comprising an outer peripheral portion; a first motor arranged on the base and comprising a first output shaft that rotates about a first axis of the three axes; a first transmission assembly having a first input end fixedly coupled to the first output shaft, a first output end rotatably coupled to the outer peripheral portion; and a composite drive assembly fixedly coupled to the first transmission assembly and comprising a second output end and a third output end rotatably coupled to the outer peripheral portion to drive the output component to rotate about a second axis and a third axis of the three axes.