Modular Robotic Joint Uniform Interface Backlash Reduction
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Solution Overview
Problem
Existing modular robots face limitations in achieving high precision, flexibility, and interchangeability due to constrained interface designs, leading to reduced motion accuracy and increased backlashes, which hinders their adaptability in various manufacturing applications.
Innovation Solution
A modular robotic joint with a uniform interface and embedded control system, featuring a torque motor and gearbox, along with a digital encoder for precise position measurement and automatic configuration, allowing for easy reconfiguration and operation across different robotic arm positions with reduced backlashes and torsions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If known interface design is used for modular joints, then module assembly is simplified, but motion accuracy deteriorates due to increased backlashes and torsions
Solution Approach 1:
The connection interface incorporates dynamic adjustment mechanisms that allow real-time compensation for backlash and torsion. The interface can adapt its mechanical properties during operation, enabling modules to be easily assembled while maintaining high motion accuracy through active correction of positioning errors.
Solution Approach 2:
The connection interface includes sensors and control systems that provide feedback on module positioning and connection status. This feedback enables automatic adjustment and compensation for backlashes and torsions, ensuring high motion accuracy while maintaining ease of module assembly and reconfiguration.
2Device complexity
If constrained interface design is used, then device complexity is reduced, but adaptability deteriorates limiting module interchangeability
Solution Approach 1:
The connection interface is designed with universal characteristics that allow it to accommodate multiple module types and configurations. The interface can adapt to different module geometries and connection requirements while maintaining a relatively simple overall structure, enabling high interchangeability without proportionally increasing device complexity.
Solution Approach 2:
The interface incorporates dynamic adjustment capabilities that allow it to adapt to different module configurations in real-time. This dynamic adaptability enables a single interface design to serve multiple functions and accommodate various module types without requiring complex specialized interfaces for each case.
3Manufacturing precision
If modular joints are designed for high precision, then motion accuracy is improved, but device complexity increases
Solution Approach 1:
The connection interface acts as an intermediary element that provides high precision motion transmission between modules. By concentrating precision mechanisms in the interface rather than in each individual module, the system achieves high motion accuracy while avoiding the complexity that would result from duplicating precision mechanisms in every module.
Solution Approach 2:
The joint design segments precision functions from structural functions. The connection interface handles precision positioning and motion transmission, while other parts of the module handle structural support and actuation. This segmentation allows high precision to be achieved in the critical interface area without requiring the entire joint to be complex.
Data Source
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AI summary
The invention refers to a modular joint for a reconfigurable robot configured with a plurality of blocks comprising at least one said modular joint (J1-J6) and at least one link member (L1-L6), each block having uniform interfaces that allow transfer of mechanical forces and torque, electrical power, and communications therethrough, the modular joint comprising: a central shaft (S), drive means (1, 4) mounted on said central shaft (S), a motion input link flange means (A), a motion output link flange means (B), said motion input link flange means (A) being connected to said drive means (1, 4) so as to be actuated in rotation about said central shaft (S), and said motion output link flange means (B) being connected to said motion input link flange means (A) so as to be actuated in rotation about said central shaft (S), wherein said motion output link flange means (B) is provided with a driving output connection interface (F) configured to fittingly engage any of the uniform interfaces of any of the blocks of the robot and plug thereinto for transfer of mechanical forces and torque, electrical power, and communications. A reconfigurable modular robot is also provided, comprising: a plurality of blocks comprising each at least one modular joint (J1-J6) according to the invention and at least one link member (L1-L6), each said block having at least one uniform interface (F) that is configured to fittingly engage a driving output connection interface (F) of a said modular joint (J1-J6) plugged thereinto for transfer of mechanical forces and torque, electrical power, and communications, an end-effector (EE) connected to one of said link members (L6) driven by one of said modular joints (J6); and computer control means (PC) for controlling said at least one modular joint (J1-J6).