Joint System with Nested Drive Devices for Compact Kinematic Control
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Solution Overview
Problem
Kinematic structures used in measurement devices and robots face challenges such as large construction space requirements and singularities, which complicate precise positioning, and conventional measurement systems struggle to detect errors accurately due to hysteresis and bearing clearances.
Innovation Solution
A joint system comprising a head element and a socket element connected by flexible drive devices via slack connecting elements, allowing for rotational movement with minimal construction space and precise position control, utilizing a control device to set desired positions and reduce errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a kinematic structure with multiple joints and arms is used for positioning, then positioning capability is achieved, but construction space requirements increase
Solution Approach 1:
The patent implements nesting by placing the drive devices inside the hollow contour of the head element. The actuators are positioned within the internal cavity of the spherical head, allowing the driving mechanism to be contained within the existing structural volume rather than adding external components. This resolves the contradiction by maintaining positioning capability through internal actuation while avoiding increased construction space requirements.
Solution Approach 2:
The patent transitions from a conventional external actuation arrangement to an internal actuation scheme by utilizing the third dimension (internal volume) of the head element. By moving the drive devices from an external spatial arrangement to an internal one, the solution achieves positioning functionality without increasing the external footprint or construction space.
2Ease of operation
If drive devices are positioned externally for easy access, then ease of operation is improved, but interfering contour increases
Solution Approach 1:
The drive devices are nested within the hollow interior of the head element, eliminating external protrusions and reducing the interfering contour. The actuators are positioned inside the spherical cavity, allowing the joint to maintain a clean, compact external shape while still providing access to drive mechanisms through the open bottom of the head element.
Solution Approach 2:
The patent utilizes the hollow shell structure of the head element to contain the drive devices. The thin-walled spherical head provides a protective enclosure while maintaining accessibility, allowing the drive mechanisms to be positioned internally without significantly increasing the external contour or interfering with surrounding components.
3Measurement precision
If conventional measurement arrangements are used for angle detection, then measurement capability is achieved, but hysteresis and bearing clearances reduce measurement precision
Solution Approach 1:
The patent replaces conventional mechanical angle measurement arrangements with magnetic field-based sensors. Magnetic sensors detect the angular position by measuring magnetic field variations, eliminating the need for mechanical contact elements that produce hysteresis and bearing clearances. This substitution maintains measurement capability while significantly improving measurement precision by removing the sources of mechanical error.
Solution Approach 2:
The patent introduces magnetic fields as an intermediary medium for angle detection. Instead of direct mechanical measurement, magnetic sensors detect angular position through magnetic field interactions, using the magnetic field as a non-contact mediator that transfers position information without the hysteresis and friction associated with mechanical contact.
Data Source
AI summary
A method for operating a joint and a joint for connecting a first joint element to a further joint element are provided. The joint includes the two joint elements, a head element, a socket element, and at least two drive devices. The head element is connected to or formed by the first joint element and the socket element is connected to or formed by the further joint element. The head element and the socket element are mounted movably on one another, and the drive devices are connected via at least one flexible connecting element to the head element or the first joint element, or to the socket element or the further joint element. The at least one connecting element is guided at least section-wise along the head element.