Modular Robot Actuator with Compound Precession Reducer
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Solution Overview
Problem
Current robot actuators are expensive, limited in features, and have limited mounting options, making them unsuitable for high-quality, low-cost applications that require coordinated control of multiple joints and sizes, such as industrial, service, and prosthetic applications.
Innovation Solution
A modular robot muscle actuator with a compound precession speed reducer that provides bearings, rotational movement, torque, and environmental awareness, featuring a balanced transmission with a central rotor and offset crank, allowing for high reduction ratios and versatile mounting options, and incorporating a spring element for series elastic operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If current robot actuators are used, then basic actuation function is provided, but they are expensive and have limited features and mounting options
Solution Approach 1:
The actuator housing is designed with multiple mounting hub configurations that can accommodate different mounting orientations and robot types. The housing includes flange hubs, plate hubs, and other mounting variations, allowing a single actuator design to serve multiple applications and mounting requirements, thereby improving adaptability without proportionally increasing complexity.
Solution Approach 2:
The actuator is divided into modular components including the housing, mounting hubs, speed reducer, motor, and end effector as separate but integrated parts. This segmentation allows for standardized interfaces while enabling customization of specific components, providing versatility in mounting options without requiring complete redesign of the entire actuator system.
2Force
If high reduction ratios are achieved through speed reducer, then torque is increased, but device complexity increases
Solution Approach 1:
The speed reducer is integrated within the actuator housing as a unified component rather than a separate external unit. The housing itself serves as part of the transmission structure, combining the functions of structural support and torque multiplication. This merging approach achieves high reduction ratios while minimizing the increase in overall device complexity.
Solution Approach 2:
The speed reducer components are nested within the actuator housing, with the transmission elements contained inside the structural housing. This nesting allows the torque-multiplying mechanism to be compactly integrated without significantly increasing the external dimensions or apparent complexity of the actuator.
3Adaptability or versatility
If modular design is implemented for scalability, then adaptability improves, but manufacturing complexity increases
Solution Approach 1:
The actuator is designed with clearly defined modular segments including the housing, mounting hubs, speed reducer, motor, and end effector. Each module can be manufactured independently using standardized processes, then assembled through predefined interfaces. This segmentation enables scalability across different robot sizes while maintaining manufacturing simplicity through repetition of standardized components.
Solution Approach 2:
The modular components are designed with universal interfaces and standardized features that can be used across multiple actuator variants and robot applications. The mounting hubs, for example, can accommodate different configurations while using the same basic component design, allowing scalability without proportionally increasing manufacturing complexity.
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 enables high-quality, economical actuators that can be scaled for various robot applications, offering high rigidity, low backlash, and shock resilience, reducing the total cost of robot ownership while providing efficient gear transmissions and safe interaction with humans and environments.
Implementation Method 1
incorporating a spring element for series elastic operation
Implementation Method 2
A first preferred embodiment of a robot muscle actuator with precession drive
Implementation Method 3
The precession drive output drives the outer housing (10) in rotation, torque or positioning
Data Source
AI summary
In one form there is disclosed an internally balanced involute-type speed reducer; the reducer comprising a stator stage, an input stage, an output stage, and a plurality of gear sets in mesh. In a further form there is disclosed an actuator assembly for a robot; said actuator assembly comprising a stator core located within an outer housing and subtended by inner and outer mounting hubs; said hub supporting a drive train and bearings within the actuator assembly. In a further form there is disclosed a transducer system operable in conjunction with the reducer or actuator assembly.