4-DOF Modular Robot Joint with Rotating Faceplates
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Solution Overview
Problem
Traditional robotic systems are often specialty devices with little commonality between components, leading to high part counts and programming complexities, limiting their modularity and versatility.
Innovation Solution
A modular robot design featuring a center link, pivotably connected outer links, and rotationally connected faceplates, allowing for four degrees of freedom and enabling various articulations and movements such as crawling, driving, and turning, with faceplates capable of continuous rotation and signal passage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robotic systems use specialty devices with unique components for each function, then functional versatility is achieved, but device complexity and part count increase significantly
Solution Approach 1:
The patent implements a universal modular joint design that can perform multiple functions (crawling, driving, turning, lifting) through a single standardized mechanism. The joint includes a center link, outer links, and faceplates that can be configured in various arrangements to achieve different movements, eliminating the need for multiple specialized components for each function.
Solution Approach 2:
The robotic system is divided into discrete modular units (joints with center links, outer links, and faceplates) that can be independently assembled and configured. Each module contains standardized interfaces and degrees of freedom that can be combined in different sequences to create various robotic configurations for different tasks.
2Adaptability or versatility
If traditional robotic systems use specialized components for each function, then functional capability is achieved, but programming complexity increases
Solution Approach 1:
The standardized joint design provides a universal programming interface and control structure that remains consistent across different robotic configurations. Whether the robot is crawling, driving, or turning, the same joint types and control logic are used, simplifying programming compared to systems that require different specialized components for each function.
Solution Approach 2:
The modular joint design allows dynamic reconfiguration of the robotic system during operation. The faceplates and links can be rotated and positioned to change the robot's configuration on-the-fly, enabling a single programmed sequence to handle multiple tasks without requiring separate programming for each function.
3Reliability
If traditional robotic systems use fixed specialized devices, then reliability for specific tasks is improved, but adaptability to different terrains and maneuvers decreases
Solution Approach 1:
The robotic system features dynamic reconfigurability where the modular joints can change their configuration during operation. The faceplates can rotate continuously and the links can pivot to adjust the robot's body posture and movement characteristics, allowing it to adapt to different terrains and maneuvering requirements while maintaining reliable performance.
Solution Approach 2:
The segmented modular design allows independent adjustment of each joint's configuration without affecting the entire system. Each module can be optimized for specific terrain conditions or maneuver types while maintaining the overall system's reliability through standardized connections and control.
Data Source
AI summary
A module of a center link pivotably connected to two outer links has continuously rotatable faceplates rotatably disposed on the two outer links, thereby creating four degrees of freedom (4-DOF). Modules may be connected via faceplates to produce a “snake” assembly. A single module may move forward in a straight line through simultaneous rotation of the two faceplates. By reversing the rotation of the faceplates, the module may turn in its own length. By sequentially pivoting the outer links relative to the center link, an “inch worm” movement may be used to move the module. Interconnections of two or more modules increase the number of available degrees of freedom, and increase the flexibility of the resultant assembly. Apertures in the faceplates and the outer links allow for interconnection of modules and allow for electrical power and signal connections. A battery housed in the center link provides power for each module.