Parallel Robot Waist Structure for High-Load Accurate Motion
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Solution Overview
Problem
Existing waist structures in bio-robots suffer from limited load-bearing capacity, poor transmission accuracy, and a restricted range of motion due to the integration of motors and reducers in a serial configuration, which are heavy and cumbersome.
Innovation Solution
A parallel waist structure with two degrees of freedom, incorporating a fixed platform, a load-carrying bearing, a connector, a movable platform, and independent motors, allowing for large-range and high-dexterity motions through independent drive assemblies, reducing the need for reducers and enhancing compactness and rigidity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If motors and reducers are integrated into a complete set of module in a serial configuration, then the waist structure can be constructed, but the module becomes heavy and has poor load-bearing capacity
Solution Approach 1:
The patent divides the waist structure into multiple independent drive assemblies (first drive assembly and second drive assembly) that work in parallel. Each drive assembly independently drives a degree of freedom, eliminating the need for heavy reducers in each module. This segmentation allows the system to achieve high load-bearing capacity through parallel force distribution while keeping individual components lightweight.
Solution Approach 2:
The patent replaces the traditional serial mechanical reduction system (motor + reducer) with a parallel direct-drive mechanical system. By using multiple motors directly driving the platforms through mechanical connections (connecting rods, bearings), the system eliminates heavy reducers while maintaining torque transmission capability, thus improving load-bearing capacity without increasing module weight.
2Manufacturing precision
If motors and reducers are integrated into a complete set of module, then the waist structure can function, but transmission accuracy becomes poor
Solution Approach 1:
The patent replaces the serial motor-reducer transmission system with a parallel direct-drive system. By eliminating reducers and their associated backslash and transmission errors, the system achieves superior transmission accuracy. The direct mechanical connection between motors and platforms ensures precise motion transmission without the complexity of reduction mechanisms.
3Adaptability or versatility
If motors and reducers are integrated into a complete set of module, then the waist structure can be constructed, but the range of motion becomes limited
Solution Approach 1:
The patent segments the waist structure into independent drive assemblies, each responsible for a specific degree of freedom. This modular segmentation allows each assembly to operate independently with large motion ranges, and their combined effect provides comprehensive motion capability. The first and second drive assemblies can move the platforms in different directions simultaneously, achieving a wide range of motion without the constraints of serial configuration.
Solution Approach 2:
The patent employs a dynamic parallel mechanism where the movable platform and fixed platform can move relative to each other in multiple directions simultaneously. The connecting rods and bearings enable continuous adjustment of the mechanism configuration, allowing the system to adapt to various motion requirements and achieve large-range, high-dexterity movements.
4Manufacturing precision
If a parallel waist structure with independent motors is used, then motion accuracy and dynamic response are improved, but the structure becomes more complex
Solution Approach 1:
The patent merges the functions of multiple drive assemblies into a coordinated parallel system. The first and second drive assemblies work together to control the movable platform's position and orientation in three-dimensional space. By combining their actions through the connecting rods and bearings, the system achieves high motion accuracy while the overall structure remains integrated and manageable despite having multiple independent components.
Data Source
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AI summary
A waist structure (100) of a robot (1000). The waist structure comprises: a fixed platform (10), a bearing (20), a connecting member (30), a movable platform (40), two motors (50), and two transmission assemblies (60); the bearing is provided on the fixed platform; the connecting member comprises a first end (31) and a second end (32) opposite to each other; a yaw shaft (33) is provided on the first end; the yaw shaft is connected to an inner ring of the bearing; a pitch shaft (34) is provided on the second end; the movable platform is rotatably connected to the pitch shaft; the motors are provided on the fixed platform; each transmission assembly corresponds to one motor; the transmission assemblies are connected to the movable platform and the corresponding motors; the motors can drive the transmission assemblies to drive the movable platform to rotate relative to the connecting member in the axial direction of the pitch shaft, and can drive the corresponding transmission assemblies to drive the movable platform and the connecting member to rotate relative to the fixed platform in the axial direction of the yaw shaft. Further comprised is a robot having the corresponding waist structure, such that the robot has high loading capability and stability.