Nested Trunk Actuator Layout for Stable 3D Robot Tilting
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Solution Overview
Problem
The increasing number of actuators required for complex trunk movements in robots leads to interference, reduced movable range, increased height, and overall size, compromising stability and efficiency.
Innovation Solution
A robot design incorporating a yawing actuator supported by a pitching actuator and a rolling actuator, with strategically arranged electric motors and speed reduction mechanisms, allows for efficient tilting movements while minimizing the number of actuators and maintaining stability by lowering the center of gravity and reducing the robot's size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the number of actuators to be arranged on the trunk is increased to achieve more complicated movements, then the movement capability of the trunk is improved, but interference of parts of the trunk becomes likely to occur and sufficient movable range cannot be secured
Solution Approach 1:
The patent applies nesting by arranging the pitching actuator and rolling actuator inside the yawing actuator structure. Specifically, the pitching actuator is arranged in the radial direction of the yawing actuator, and the rolling actuator is arranged in the radial direction of the pitching actuator, creating a nested configuration that reduces overall size and prevents part interference while maintaining all three degrees of freedom for trunk movement.
2Adaptability or versatility
If the number of actuators to be arranged on the trunk is increased to achieve more complicated movements, then the movement capability of the trunk is improved, but the height of the trunk may increase and the stability in movement of the robot may be reduced
Solution Approach 1:
The nested arrangement of actuators (pitching and rolling actuators inside the yawing actuator) significantly reduces the height of the trunk compared to a conventional side-by-side arrangement. This compact vertical stacking maintains the center of gravity at a lower position, thereby preserving stability during movement while enabling complex three-dimensional trunk movements.
3Adaptability or versatility
If the number of actuators to be arranged on the trunk is increased to achieve more complicated movements, then the movement capability of the trunk is improved, but the size in the forward and rearward direction of the trunk increases, resulting in increase of the overall size of the robot
Solution Approach 1:
The patent employs a nested configuration where the pitching actuator and rolling actuator are positioned within the radial space of the yawing actuator. This arrangement minimizes the forward and rearward dimensions of the trunk by utilizing the radial and axial spaces efficiently, rather than extending the actuators linearly in the forward-rearward direction, thus reducing the overall robot size.
4Adaptability or versatility
If actuators are arranged at a lower portion or the waist of the trunk to enable tilting movements, then the tilting capability is achieved, but the movable range may be limited due to space constraints
Solution Approach 1:
The nested actuator configuration provides adequate space for each actuator to operate through its full range of motion without interference from adjacent actuators. The radial and axial arrangements ensure that the pitching, rolling, and yawing actuators can achieve their respective movable ranges while being compactly integrated at the lower portion of the trunk.
Data Source
AI summary
Disclosed herein is a robot including a yawing actuator that allows yawing of a trunk of the robot, a pitching actuator that is arranged above the yawing actuator and is supported by the yawing actuator, the pitching actuator allowing pitching of the trunk, and a rolling actuator that is arranged in a rear of the pitching actuator and is supported by the pitching actuator, the rolling actuator allowing rolling of the trunk.