Parallel Robot Head Mechanism for Compact Low-Inertia Neck Motion
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Solution Overview
Problem
Conventional humanoid robot head mechanisms with serial neck mechanisms face issues of bulkiness, large inertia, and space-consuming designs, which complicate cable routing and movement flexibility.
Innovation Solution
A head mechanism utilizing two parallel actuating mechanisms with a compact structure, allowing for forward, backward, and lateral bending, featuring a base, mounting member, and connecting member with rotatable axes and speed reducers, enabling ergonomic and space-efficient movement while minimizing inertia.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If serial neck mechanisms are used in robot heads, then the structure can achieve multi-joint movement, but the size becomes bulky and inertia increases
Solution Approach 1:
The patent inverts the conventional serial mechanism arrangement by using a parallel mechanism structure where the moving platform connects to the base through multiple parallel kinematic chains. This inversion allows achieving multi-joint movement capability while significantly reducing the inertia and weight of the moving parts, as the actuating mechanisms are distributed and share the load rather than being stacked in series.
Solution Approach 2:
The patent transitions from a traditional serial linear arrangement to a parallel three-dimensional structure. The moving platform is positioned above the base and connected through parallel kinematic chains that extend in multiple spatial dimensions, allowing compact integration of multiple degrees of freedom while reducing the overall footprint and moment of inertia.
2Adaptability or versatility
If serial neck mechanisms are used in robot heads, then the structure can provide multiple degrees of freedom, but the neck length becomes large and space consumption increases
Solution Approach 1:
The patent employs a compact parallel mechanism design where the kinematic chains are nested and integrated within a confined space. The actuating mechanisms and linkages are arranged to occupy minimal volume while maintaining multiple degrees of freedom, effectively nesting the functional components within a short neck length.
Solution Approach 2:
The patent utilizes three-dimensional spatial arrangement of the parallel kinematic chains to achieve multiple degrees of freedom within a compact footprint. By distributing the movement axes in different spatial directions rather than linearly stacking them, the design achieves high adaptability without increasing the effective neck length.
3Ease of operation
If serial neck mechanisms are used in robot heads, then the structure can achieve head movement, but cable routing becomes difficult
Solution Approach 1:
The patent extracts the cable routing problem from the moving mechanism by providing dedicated cable routing channels and guide structures within the base and moving platform. The cables are routed through predetermined paths that are isolated from the complex parallel kinematic chains, simplifying the cable management system while maintaining full head movement capability.
Solution Approach 2:
The patent introduces intermediary cable guide structures and routing channels that mediate between the stationary cable sources and the moving platform. These intermediary elements provide smooth transition paths for cables, preventing entanglement and simplifying the overall cable routing complexity in the parallel mechanism system.
Data Source
AI summary
A head mechanism includes a base connectable to a body of a robot, a mounting member arranged above the base, a connecting member rotatably connected to the base and the mounting member. The connecting member, together with the mounting member, is rotatable relative to the base about a first axis, and the mounting member is rotatable relative to the connecting member about a second axis. The first axis and the second axis extend in different directions. The head mechanism further includes two first actuating mechanisms fixed to the base, and the two first actuating mechanisms are configured to drive the mounting member to rotate with respect to the base.