Modular Robotic Structure With Leadscrew Actuation for Compact Torque
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Solution Overview
Problem
Existing robotic architectures face limitations in terms of implementation, versatility, structural strength, flexibility, compactness, and adaptability, particularly requiring large motors and occupying significant volume when modules are folded, necessitating a more efficient modular robotic structure.
Innovation Solution
A modular robotic structure comprising motorized modules with a housing, wheels, a driver, leadscrew, and transmission system, allowing for compact design and easy reconfiguration into articulated limbs or arms, which can be integrated with non-motorized modules to form adaptable robotic systems, including drones and manipulator arms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If large motors are used to provide sufficient torque, then the torque requirement is met, but the device volume and weight increase
Solution Approach 1:
The robotic system is divided into modular segments where each module contains its own motor and transmission components. This segmentation allows the use of smaller, more efficient motors in each module rather than one large motor, reducing overall volume while maintaining required torque through distributed actuation
Solution Approach 2:
The patent replaces direct mechanical coupling with a transmission system involving pulleys, belts, and gear mechanisms. This substitution allows for mechanical advantage to be achieved through the transmission train rather than requiring a large motor, enabling compact motor sizing while delivering sufficient torque at the output
2Volume of moving object
If modules are folded for compact storage, then space efficiency improves, but the manipulator arm occupies large volume when assembled
Solution Approach 1:
The robotic modules are designed to nest within each other when folded or stored, with each module containing compartments that receive adjacent modules. This nesting arrangement minimizes storage volume while maintaining the ability to quickly assemble and disassemble the manipulator arm in various configurations
Solution Approach 2:
The system employs dynamic reconfiguration capabilities where modules can be quickly assembled, disassembled, and repositioned. The modular design with standardized connection interfaces enables the manipulator arm to adapt its configuration based on task requirements, transitioning between compact storage and extended operational states
3Adaptability or versatility
If modular design is implemented for reconfigurability, then adaptability improves, but device complexity increases
Solution Approach 1:
The patent implements universal connection interfaces and standardized mounting patterns across all modules, allowing the same module to be used in multiple positions and configurations. This universality reduces the variety of unique components needed, simplifying the overall system despite its reconfigurable nature
Solution Approach 2:
By dividing the robotic system into identical or similar modular segments with standardized interfaces, the complexity of reconfigurability is managed through repetition of proven designs rather than creating unique solutions for each configuration scenario
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the creation of lightweight, adaptable robotic systems suitable for various applications such as Explosive Ordnance Disposal, mining, construction, and drone operations, with enhanced flexibility and compactness, allowing for tele-operated or autonomous operation and efficient use of space.
Implementation Method 1
a leadscrew mounted to the housing between the first and second wheels, the leadscrew extending along a second longitudinal axis, the leadscrew rotating about the second longitudinal axis; and a connector coupled to the leadscrew and configured to move longitudinally along the second longitudinal axis in response to a rotation of the leadscrew
Implementation Method 2
a transmission drivingly connecting the driver to the leadscrew
Implementation Method 3
a first wheel mounted to the housing and having a first axis of rotation; a second wheel mounted to the housing and having a second axis of rotation
Data Source
AI summary
A motorized module for a modular robotic structure comprises a housing, a first wheel, a second wheel, an elongated structure mounted to the first and second wheels and configured to rotate the first and second wheels. A driver is mounted to the housing between the first and second wheels. A leadscrew is mounted to the housing between the first and second wheels. A transmission drivingly connecting the driver to the leadscrew. A connector is coupled to the leadscrew and configured to move longitudinally along the second longitudinal axis in response to a rotation of the leadscrew, the connector being attached to the elongated structure.