Non-Planar Linear Actuator Linkage for External Force Absorption
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Solution Overview
Problem
Conventional drive systems in robots, particularly in legged robots, are prone to degradation due to external forces, leading to increased maintenance and repair costs due to their rigid structure, which translates forces into higher torque, causing stress and potential damage.
Innovation Solution
A non-rigid drive system is introduced, utilizing a linkage system with spherical bearings that absorb and redirect external forces, allowing the robot's structure to flex and dissipate energy, reducing stress on the drive system components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid drive system structure is used, then structural strength and stability are improved, but external forces are translated into higher torque causing stress and potential damage to components
Solution Approach 1:
The drive system transitions from a rigid structure to a dynamic structure with movable linkage components and spherical bearings that can flex and adapt to external forces, allowing the system to absorb shocks rather than transmit them as high torque to the motor assembly
Solution Approach 2:
The system changes its mechanical parameters by introducing degrees of freedom through spherical bearings and linkage mechanisms, transforming the rigid structure into a compliant one that can alter its configuration in response to external forces, thereby reducing stress transmission
2Stability of the object's composition
If a rigid drive system is used, then structural stability is maintained, but maintenance and repair costs increase due to component degradation from force translation
Solution Approach 1:
The linkage system with spherical bearings acts as an intermediary between the motor assembly and the output mechanism, absorbing and redistributing external forces before they reach critical components, thereby protecting the drive system from degradation
Solution Approach 2:
The flexible linkage structure provides preemptive protection by being designed to absorb external forces through controlled flexing, preventing these forces from reaching and damaging critical components like the motor assembly and lead screw
3Object-affected harmful factors
If a non-rigid linkage system with spherical bearings is used, then stress from external forces is reduced, but device complexity increases
Solution Approach 1:
The drive system is segmented into modular components (motor assembly, lead screw, nut, linkage system with multiple links and spherical bearings) that can independently handle different aspects of force transmission and absorption, making the complexity manageable and the system maintainable
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
The non-rigid drive system effectively reduces the impact of external forces on the drive system, minimizing damage and maintenance needs, while maintaining functionality and reducing the complexity and cost of construction.
Implementation Method 1
a first spherical bearing disposed at the proximal end of the linkage system that defines a first axis of rotation orthogonal to the actuation axis and a distal spherical bearing disposed at the distal end of the linkage system that defines a second axis of rotation orthogonal to the actuation axis
Data Source
AI summary
A drive system includes a linear actuator with a drive shaft and having an actuation axis extending along a length of the linear actuator. A motor assembly of the drive system couples to drive shaft and is configured to rotate the drive shaft about the actuation axis of the linear actuator. The drive system further includes a nut attached to the drive shaft and a carrier housing the nut. A linkage system of the drive system extends from a proximal end away from the motor assembly to a distal end. The proximal end of the linkage system rotatably attaches to the carrier at a first proximal attachment location where the first proximal attachment location offset is from the actuation axis. The drive system also includes an output link rotatably coupled to the distal end of the linkage system where the output link is offset from the actuation axis.