Link Driving Apparatus with Merged Actuator and Capstan System
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Solution Overview
Problem
Conventional multi-joint link driving apparatuses are heavy due to multiple actuators, increasing payload, production costs, and power consumption, and are complex in structure.
Innovation Solution
A simplified link driving apparatus with reduced actuators, using a base-mounted actuator, hinge pins, capstans, and clutches, where a wire rotates capstans and clutches control link movement, allowing for efficient energy use and cost reduction by minimizing the number of necessary actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If multiple actuators are used at each link connection portion to control the linkage, then the link control reliability is improved, but the apparatus weight increases substantially
Solution Approach 1:
Multiple actuators are merged into a single actuator that controls multiple links through a wire-cable system. The single actuator rotates a capstan, which winds or unwinds the wire to simultaneously control the rotation of multiple connection links, thereby reducing total weight while maintaining control reliability
Solution Approach 2:
A wire-cable system acts as an intermediary between the single actuator and multiple connection links. The wire transmits mechanical force from the capstan to the links, enabling remote and simultaneous control of multiple joints without requiring actuators at each joint location
2Adaptability or versatility
If multiple actuators are installed at respective link connection portions, then the link driving capability is improved, but the product price increases
Solution Approach 1:
Multiple expensive actuators are replaced by a single actuator combined with passive mechanical elements (capstan, wire, clutch). This merging reduces component count and manufacturing complexity while maintaining the ability to drive multiple links independently through the clutch mechanisms
3Power
If multiple actuators are used for each link, then the driving power is improved, but the power consumption increases
Solution Approach 1:
Multiple power sources (actuators) are merged into a single power source that drives multiple links through mechanical transmission. The single actuator provides sufficient driving power for multiple links by rotating the capstan, which transmits force through the wire to engaged clutches on respective links
Solution Approach 2:
The clutch mechanisms enable periodic engagement and disengagement of power transmission to different links. The single actuator can selectively engage different clutches at different times, providing targeted power delivery only when and where needed, thereby reducing overall power consumption compared to continuously operating multiple actuators
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
The solution reduces energy consumption and production costs while maintaining efficient link control, achieving a lighter and more simplified apparatus.
Implementation Method 1
a wire configured to rotate the respective capstans when the actuator is driven by sequentially connecting the actuator and the respective capstan
Implementation Method 2
a plurality of clutches disposed on the plurality of hinge pins, respectively, and allow the connection links and the capstans to be rotated together, or allow the capstans to be rotated by connecting or disconnecting the ends of the connection links and the capstans
Data Source
AI summary
An apparatus for driving links is provided and includes a base onto which an actuator is installed and a plurality of connection links connected to the base via a plurality of hinge pins, and the respective end of which is connected via the hinge pin to form a series of a driving lines. A plurality of capstans are disposed on the plurality of hinge pins, respectively and a wire allows the respective capstan to be rotated when the actuator drives by sequentially connecting the actuator and the respective capstans. A plurality of clutches are disposed on the plurality of hinge pins, respectively, and allow the connection links and the capstans to be rotated together, or allow the capstans to be rotated by connecting or disconnecting the ends of the connection links and the capstans, respectively.