Parallel Motor Robot Actuator with Spring Transmission
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Articulated robots with multi-joint structures face challenges in achieving natural movement due to increased volume and weight from actuators, leading to mechanical friction and reduced flexibility, which complicates joint actuation and user movement.
Innovation Solution
An articulated robot actuator design featuring parallel motors, gear parts, spring members, and joint actuating members that reduce mechanical friction and minimize volume and weight, allowing complex actuation of multiple joints through a multi-joint muscle structure imitation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If an actuator is mounted on each joint part to generate rotational torque, then the joint actuation force is improved, but the weight and volume of each joint part increase
Solution Approach 1:
The patent combines multiple actuators into a single integrated actuator unit that can actuate multiple joints simultaneously. This merging approach maintains the necessary joint actuation force while reducing the overall weight and volume compared to having separate actuators on each joint.
Solution Approach 2:
The actuator is designed with multi-functionality to serve multiple joints with a single device. By implementing universal actuation capability, the system achieves sufficient actuation force for multiple joints without the weight penalty of individual actuators on each joint.
2Force
If an actuator is mounted on each joint part to generate rotational torque, then the joint actuation force is improved, but the volume of each joint part increases
Solution Approach 1:
The patent combines multiple actuators into a single integrated actuator unit that can actuate multiple joints simultaneously. This merging approach maintains the necessary joint actuation force while reducing the overall volume compared to having separate actuators on each joint.
Solution Approach 2:
The actuator is designed with multi-functionality to serve multiple joints with a single device. By implementing universal actuation capability, the system achieves sufficient actuation force for multiple joints without the volume increase of individual actuators on each joint.
3Force
If a speed reducer is used in the electric motor to secure output torque, then the output torque increases, but the mechanical friction increases
Solution Approach 1:
The patent replaces the traditional mechanical speed reducer with a direct-drive motor configuration. This substitution eliminates the mechanical friction generated by gear engagement while maintaining sufficient output torque through high-torque motor design, thereby reducing the harmful mechanical friction effect.
4Adaptability or versatility
If actuators are mounted on each joint to achieve natural movement, then the joint actuation capability is improved, but the power consumption increases
Solution Approach 1:
The patent combines multiple actuators into a single integrated actuator unit that can actuate multiple joints simultaneously. This merging approach maintains the necessary joint actuation capability while reducing power consumption by eliminating redundant actuator systems and their associated power requirements.
Solution Approach 2:
The actuator is designed with multi-functionality to serve multiple joints with a single device. By implementing universal actuation capability, the system achieves sufficient actuation capability for multiple joints while significantly reducing power consumption compared to having individual actuators on each joint.
5Adaptability or versatility
If actuators are mounted on each joint to achieve natural movement, then the joint actuation capability is improved, but the complexity of electric wiring increases
Solution Approach 1:
The patent combines multiple actuators into a single integrated actuator unit that can actuate multiple joints simultaneously. This merging approach maintains the necessary joint actuation capability while significantly simplifying electric wiring by reducing the number of separate electrical connections required.
Solution Approach 2:
The actuator is designed with multi-functionality to serve multiple joints with a single device. By implementing universal actuation capability, the system achieves sufficient actuation capability for multiple joints while reducing wiring complexity compared to having individual actuators on each joint.
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 natural movement of articulated robots by reducing mechanical friction and minimizing volume and weight, enhancing user flexibility and reducing power consumption while maintaining sufficient joint actuation force.
Implementation Method 1
a pair of spring members of which a degree of torsion strain is determined by the actuation forces provided from the pair of first gear parts
Data Source
AI summary
An articulated robot actuator includes a pair of motors, a pair of first gear parts, a pair of spring members, a pair of second gear parts, and a pair of joint actuating members, to actuate a plurality of joints of an articulated robot. The pair of motors have rotary shafts arranged in parallel, and the pair of first gear parts change directions of rotational actuation forces from the motors. The pair of spring members have degrees of torsion strains determined by the rotational actuation forces from the first gear parts, and the pair of second gear parts receive the rotational actuation forces transferred thereto according to the degrees of the torsion strains of the spring members. The pair of joint actuating members are rotated about a common rotary shaft by the rotational actuation forces from the second gear parts.