Modular Robot Waist Skeleton for Three-DOF Flexibility
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Solution Overview
Problem
Conventional bionic robots lack flexibility in their waist movements due to integrally designed waist parts that fail to move effectively, limiting their ability to simulate human-like three-DOF (degree of freedom) movements.
Innovation Solution
A modularized robot waist skeleton is designed with a swing waist actuator, bend waist actuator, and rotate waist actuator, each configured to provide independent movements, allowing for human-like three-DOF waist movements through a modular structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the waist parts are integrally designed, then the structure is simple, but the flexibility of the waist is poor
Solution Approach 1:
The waist skeleton is divided into multiple modular components including a first bracket assembly with swing waist actuator, a second bracket assembly with bend waist actuator, and a third bracket assembly with rotate waist actuator. Each bracket assembly functions as an independent module that can be separately manufactured, assembled, and maintained, thereby achieving both structural simplicity through modularity and improved waist flexibility through multiple degrees of freedom
2Ease of manufacture
If the waist parts are integrally designed, then the manufacturing process is simple, but the waist cannot move effectively
Solution Approach 1:
The waist skeleton employs segmented modular design where each bracket assembly (first, second, and third brackets) is manufactured as a separate unit containing specific actuators. This segmentation enables simplified manufacturing of individual modules while the assembled structure achieves effective multi-directional waist movement through coordinated operation of swing, bend, and rotate actuators
Solution Approach 2:
The design incorporates three independent actuators (swing waist actuator, bend waist actuator, rotate waist actuator) that transform the static integral structure into a dynamic system capable of multi-degree-of-freedom movement. Each actuator provides specific motion capability, and their coordinated operation enables complex waist movements that would be impossible with a static integral design
3Adaptability or versatility
If modularized design is implemented with multiple actuators, then the flexibility is improved, but the device complexity increases
Solution Approach 1:
The modularized design divides the waist skeleton into three standardized bracket assemblies, each containing one actuator and its supporting structure. This segmentation improves waist flexibility by enabling independent control of swing, bend, and rotate movements, while managing complexity through standardized modular units that can be manufactured and assembled using consistent processes
Data Source
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AI summary
The present invention deals with a robot waist skeleton and a robot. The robot waist skeleton includes: a swing waist effector (10); a first bracket (20), one end of which is connected to an output end of the swing waist effector (10); a bend waist effector (40), a case of which is connected to the other end of the first bracket (20); a second bracket (50), one end of which is connected to an output shaft of the swing waist effector (40); a rotate waist effector (70), an output end of which is connected to the other end of the second bracket (50); and a third bracket (80), one end of which is connected to a case of the rotate waist effector (70). Modularized design of the robot waist skeleton is implemented, and the robot waist skeleton may simulate human beings and implement three-DOF movements of waist swinging, waist bending and waist rotation of the robot waist skeleton.