Modular Externally Driven Robot Joint for Compact Link Mechanisms
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Solution Overview
Problem
Existing externally-driven joint structures for robots are not modularized, limiting their general-purpose use and requiring individual design for specific situations, whereas internally-driven joint structures are inflexible due to built-in actuators.
Innovation Solution
A modular externally-driven joint structure featuring a shaft member and rotatable members with coupling portions for link members, allowing external force-driven axial rotation and enabling various link mechanisms, including a Scott Russell mechanism and delta robot configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If externally-driven joint structures are individually designed for each use situation, then the joint structure can be optimal for specific applications, but the design complexity and time increase, and general-purpose use is limited
Solution Approach 1:
The patent creates a universal joint structure that can serve multiple robotic applications through standardized components. The joint structure includes a standardized housing, shaft member, and coupling mechanism that can be configured for different robotic systems (SCARA, delta, hexapod robots) without requiring complete redesign, thus achieving general-purpose use while maintaining application-specific optimization
2Ease of operation
If a joint structure with a built-in actuator is used, then the joint can be directly driven, but the size becomes relatively large and the shape and structure are limited
Solution Approach 1:
The patent extracts the actuator from the joint structure itself, creating an externally-driven joint that eliminates the need for built-in motors. The joint structure focuses solely on the mechanical coupling and rotation functions, while the actuation is provided by external actuators, thereby reducing the joint's volume and removing shape constraints imposed by internal actuators
3Adaptability or versatility
If an externally-driven joint structure is used, then the joint can be freely designed according to link mechanism, but conventionally they are not modularized and lack general-purpose use
Solution Approach 1:
The patent segments the joint structure into modular components including a housing, shaft member, coupling portions, and bearing assemblies. These standardized modules can be independently selected and configured for different robotic applications, achieving both design flexibility and general-purpose reusability without requiring individual design for each use case
Data Source
AI summary
A modularized externally-driven joint structure can be used for general purposes. An externally-driven joint structure: includes a shaft member that extends in an axial direction; and a number 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.