Modular Robot Torso Assembly for Multi-Axis Flexibility
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Solution Overview
Problem
The existing torso structures of robots have limited swingable directions and angles, leading to poor flexibility and reduced motion stability, and are relatively heavy, which affects their overall performance and maintenance efficiency.
Innovation Solution
A robot design featuring a torso structure with multiple degrees of freedom, including a lower leg assembly, thigh assembly, and thoracic cavity assembly, each connected by torso motors, allowing for multi-portion rotation and a compact, lightweight configuration with internal wiring for aesthetic appeal and ease of maintenance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the torso structure uses a traditional single-piece design, then the structure is simple, but the swingable directions and angles are limited and flexibility is poor
Solution Approach 1:
The torso structure is divided into multiple independent assemblies including a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. Each assembly can rotate relative to others around common output shafts, enabling multi-directional movement and significantly improving flexibility while maintaining manageable structural complexity through modular design.
2Stability of the object's composition
If the torso structure uses a traditional design, then the structure is compact, but the weight is relatively heavy which reduces motion stability
Solution Approach 1:
By segmenting the torso into multiple lightweight assemblies connected through rotational joints, the overall weight is reduced compared to a solid traditional torso. The modular structure allows for optimized material distribution and reduced mass while maintaining structural integrity and motion stability through the distributed assembly architecture.
3Ease of repair
If the torso structure uses a traditional design, then the structure is simple, but maintenance and inspection efficiency is low
Solution Approach 1:
The modular assembly structure with distinct lower leg, thigh, and thoracic cavity assemblies allows individual components to be independently accessed, removed, and inspected. This segmentation enables efficient maintenance by allowing technicians to work on specific assemblies without disassembling the entire torso structure, significantly improving maintenance efficiency despite the increased structural complexity.
4Strength
If the robotic arm tail end is heavy, then the structure is strong, but the payload capacity is reduced
Solution Approach 1:
The robotic arm is divided into upper arm and forearm segments with the gripper structure at the tail end. This segmentation allows the arm structure to be optimized for strength where needed while keeping the tail end lightweight to maximize payload capacity. The modular design enables the gripper to be a separate, lightweight component that can be optimized for its specific function without carrying the weight of the entire arm structure.
Data Source
AI summary
A robot includes a torso structure, a head structure, robotic arms, gripper structures, and a chassis driving structure. The torso structure includes a lower leg assembly, a thigh assembly, and a thoracic cavity assembly. A first torso motor, a second torso motor, and a third torso motor enable a multi-joint rotation within a plane formed by a first direction and a second direction. A fourth torso motor drives the thoracic cavity assembly to rotate relative to the thigh assembly around an output shaft of the fourth torso motor within a plane formed by the second direction and a third direction. Two opposite sides of the end of the thoracic cavity assembly facing away from the thigh assembly are provided with the robotic arms respectively, and the gripper structures are securely mounted at tail ends of the robotic arms respectively.