Minimally Actuated Serial Robot with Mobile Actuator
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Solution Overview
Problem
Hyper-redundant robots face challenges in motion planning and are inefficient due to the need for numerous actuators, which results in energy inefficiency and bulkiness, while flexible robots are inaccurate and difficult to control.
Innovation Solution
A minimally actuated serial robot with a mobile actuator that adjusts the position of links along joints, allowing for complex motions with fewer actuators, enabling efficient energy use and modular design for various applications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If hyper-redundant robots use numerous actuators to achieve complex motions, then the robot's maneuverability and adaptability are improved, but the energy consumption and device complexity increase significantly
Solution Approach 1:
The patent applies the dynamics principle by making the actuator mobile rather than fixed at each joint. The single actuator travels dynamically along the robotic snake's links to different positions, enabling it to actuate multiple joints sequentially. This dynamic repositioning allows one actuator to perform the work that would otherwise require many fixed actuators, significantly reducing energy consumption while maintaining the robot's ability to navigate complex environments.
Solution Approach 2:
The mobile actuator serves multiple functions: it acts as both a transporter (moving along the links) and an actuator (rotating joints). This multi-functionality allows a single device to replace what would traditionally require separate actuators at each joint, reducing overall system complexity and energy usage while maintaining full maneuverability of the hyper-redundant robot.
2Adaptability or versatility
If hyper-redundant robots use numerous actuators to achieve complex motions, then the robot's adaptability is improved, but the device complexity and weight increase
Solution Approach 1:
The system transitions from static actuators fixed at each joint to a dynamic mobile actuator that travels along the robotic snake. This single mobile actuator can position itself at any joint along the chain of links, providing the same adaptability and control capability as multiple fixed actuators but with dramatically reduced device complexity. The mobile actuator's ability to dynamically reposition enables it to service multiple joints sequentially.
Solution Approach 2:
The robotic snake is segmented into multiple links connected by passive joints, with a single mobile actuator that can travel between segments. This segmentation allows the actuator to service different parts of the robot independently, maintaining the adaptability of a multi-actuator system while using only one actuator unit, thus reducing overall device complexity.
3Use of energy by moving object
If flexible robots are used to reduce actuator quantity, then the energy consumption and weight are reduced, but the positioning accuracy and control precision deteriorate
Solution Approach 1:
The mobile actuator dynamically travels along the rigid links of the robotic snake, positioning itself precisely at the desired joint before actuation. This dynamic approach with rigid structures maintains positioning accuracy unlike flexible robots, while the reduced actuator quantity naturally lowers energy consumption. The rigid links provide stable, predictable geometry for accurate motion control.
Solution Approach 2:
The mobile actuator serves as an intermediary between the control system and the multiple joints of the robotic snake. It carries the actuation capability to wherever it is needed along the chain of links, providing precise control at each joint while using a single actuator unit, thus maintaining accuracy without the energy cost of 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 robot achieves efficient energy consumption, reduced weight, and increased mobility with fewer actuators, allowing it to navigate complex environments while maintaining accuracy and adaptability.
Implementation Method 1
a first motor to travel along the connected links
Implementation Method 2
a second motor to change the fixed orientation between two connected links
Data Source
AI summary
The present invention relates to a robot device comprising a chain comprising a plurality of fixedly connected links and a mobile actuator movable thereon configured to change a position of a link relative to a position of an adjacent link; wherein said mobile actuator comprises at least a first motor to drive it along said chain of connected links; and wherein said mobile actuator is engageable with a position-determining element in said link.