Non-Planar Linear Actuator Linkage for External Torque Relief
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional drive systems in robots, particularly in legged robots, are prone to degradation due to external forces and torque, leading to increased maintenance costs and complexity, as they often rely on rigid structures that cannot effectively dissipate energy from external influences.
Innovation Solution
A non-rigid drive system is introduced, featuring a linkage system with spherical bearings that allows for flexible adaptation to stresses, redirecting external forces into rotational energy, thereby reducing the impact on the linear actuator and dissipating energy through the structural frame of the leg.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid drive system structure is used, then structural strength and stability are improved, but the system becomes vulnerable to degradation from external forces and torque
Solution Approach 1:
The patent applies the dynamics principle by replacing rigid connections with spherical bearings that enable dynamic motion. The linkage system with spherical bearings allows the drive system to adapt its configuration in response to external forces, transforming the system from static and rigid to dynamic and flexible. This enables the system to dissipate energy from external influences through controlled movement rather than resisting rigidly, thereby improving reliability while maintaining sufficient strength.
Solution Approach 2:
The patent changes the physical state and motion parameters of the drive system components. By introducing spherical bearings, the system transitions from fixed positional parameters to variable positional parameters, allowing components to move and rotate in response to loading conditions. This parameter change enables the system to accommodate external forces without structural degradation.
2Force
If a rigid structure is used to resist external forces, then force resistance is improved, but energy dissipation capability deteriorates
Solution Approach 1:
The patent converts the harmful effect of external forces into beneficial rotational motion. Instead of rigidly resisting external forces that could cause damage, the spherical bearings allow these forces to induce controlled rotation and movement in the linkage system. This transforms potentially harmful energy into useful motion that can be dissipated through the natural movement of the mechanism, protecting the drive system while managing energy effectively.
3Adaptability or versatility
If spherical bearings are introduced to reduce stress, then system flexibility is improved, but device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the drive system into modular components connected by spherical bearings. Instead of a single complex rigid structure, the system is segmented into multiple links and joints that can move independently. This modular approach with spherical bearings at key connection points provides flexibility while keeping each component relatively simple and manageable.
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
This solution reduces stress on the drive system, preventing damage and degradation, and allows for more efficient movement by enabling flexible adaptation to various environmental stresses, thus enhancing the robot's operational reliability and reducing maintenance needs.
Implementation Method 1
a first spherical bearing rotatably attaches the linkage system to the linear actuator at a first attachment location offset from the actuation axis by a first offset distance
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.