Interlocking Actuator for Walking Robot Hip and Knee Joints
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Solution Overview
Problem
Conventional walking robots face complex control mechanisms and significant inertial forces due to independently operated pitch direction hip joints and knee joints, leading to inefficient power output and unnatural walking movements.
Innovation Solution
The implementation of an interlocking actuator system that synchronizes the pitch direction hip joint and knee joint, utilizing a planetary gear unit and speed reducer to reduce inertial forces and simplify control, allowing for simultaneous driving of both joints with reduced power output.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If pitch direction hip joints and knee joints are independently operated by respective actuators, then the robot can achieve various walking movements, but the control mechanism becomes complicated and inertial forces increase
Solution Approach 1:
The patent combines the actuators for the pitch direction hip joint and knee joint into a single integrated actuator unit. This merging reduces the number of independent actuators from two to one, simplifying the control mechanism while maintaining the capability to achieve various walking movements through coordinated control of the combined actuator system.
Solution Approach 2:
The integrated actuator is designed to perform multiple functions by simultaneously controlling both the pitch direction hip joint and knee joint. This multi-functional actuator can generate the necessary torques for both joints through a shared transmission mechanism, reducing overall system complexity while preserving full walking capability.
2Ease of operation
If actuators are disposed adjacent to joints for direct operation, then control is simplified, but large inertial forces are generated during walking
Solution Approach 1:
The patent introduces a mechanical linkage system that acts as an intermediary between the integrated actuator and the joints. This linkage mechanism transmits and transforms the actuator's output force, reducing the inertial forces transmitted to the leg segments during walking while maintaining effective joint control.
Solution Approach 2:
The patent modifies the transmission parameters through the mechanical linkage system to optimize force distribution. By adjusting the mechanical advantage and force transmission characteristics of the linkage, the system reduces peak inertial forces during dynamic walking while maintaining sufficient control authority.
3Measurement precision
If multiple independent actuators are used for hip and knee joints, then each joint can be controlled precisely, but the power output required increases
Solution Approach 1:
The patent merges multiple independent actuators into a single integrated actuator that controls both the pitch direction hip joint and knee joint. This consolidation reduces the total power consumption by eliminating redundant actuator systems while maintaining precise joint control through coordinated actuation and advanced control algorithms.
Solution Approach 2:
The integrated actuator system is designed to efficiently manage its own power distribution to multiple joints. Through intelligent power management and force optimization, the system delivers precise control to both joints while minimizing overall power consumption compared to independent actuator systems.
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 solution simplifies the control mechanism, reduces inertial forces during walking, and decreases the power required to drive the robot's legs, enabling more natural and efficient movement with reduced power output.
Implementation Method 1
a planetary gear unit including a sun gear, a ring gear provided at the outside of the sun gear, a plurality of planet gears engaged with the sun gear and the ring gear such that the planet gears rotate and revolve, and a carrier connected to the plurality of planet gears
Data Source
AI summary
A walking robot, in which driving structures of a pitch direction hip joint and a knee joint of a leg are enhanced. The walking robot includes a trunk, and a plurality of legs connected to the trunk, at least one leg among the plurality of legs includes a thigh link, a calf link provided at the lower portion of the thigh link, a pitch direction hip joint connecting the trunk and the thigh link and rotating the thigh link against the trunk in a pitch direction, and a knee joint connecting the thigh link and the calf link and rotating the calf link against the thigh link in the pitch direction. The pitch direction hip joint and the knee joint are interlocked with each other and are driven by one interlocking actuator.