Modular Externally Driven Joint Structure for Versatile Robot Links
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Solution Overview
Problem
Existing externally-driven joint structures for robots are not modularized, limiting their general-purpose use and versatility in link mechanisms.
Innovation Solution
A modularized externally-driven joint structure comprising a shaft member and rotatable members with coupling portions for linking with external actuators, allowing for various link mechanisms and configurations, including a Scott Russell mechanism and delta robot designs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If externally-driven joint structures are individually designed for each use situation, then optimal performance for specific applications is achieved, but design complexity and lack of standardization increase
Solution Approach 1:
The joint structure is designed with a standardized configuration including a shaft member and multiple rotatable members with coupling portions, enabling it to function as a universal module that can be applied to various robot link mechanisms without requiring individual redesign for each application
2Adaptability or versatility
If externally-driven joint structures are modularized for general-purpose use, then versatility and ease of assembly improve, but may sacrifice optimization for specific applications
Solution Approach 1:
The joint structure is divided into distinct modular components including a shaft member and multiple rotatable members, each with specific coupling portions, allowing the standardized module to be flexibly configured and combined in different arrangements to suit various application requirements while maintaining general-purpose applicability
Data Source
AI summary
A modularized externally-driven joint structure that can be used for general purposes. In one aspect, an externally-driven joint structure includes: a shaft member that extends in an axial direction; and a plurality of rotatable members that are arranged along the axial direction, and are coupled with each other by the shaft member in an axially rotatable manner. Each of the rotatable members includes a pair of face portions that face each other in the axial direction, a side wall portion that is arranged along the outer circumferential edges of the pair of face portions, and at least one coupling portion that is arranged at the face portions or the side wall portion, and is coupled with a link member constituting a link of a robot.