Robot Ankle Assembly with Dual Perpendicular Driving Assemblies
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Solution Overview
Problem
Conventional humanoid robot ankles lack the ability to rotate inward and outward due to limited transmission and driving force, restricting their flexibility and support capabilities.
Innovation Solution
The ankle assembly incorporates a first and second driving assembly with reduction mechanisms and a connection support, featuring gears with different tooth counts to increase output torque and allow for perpendicular rotation axes, enabling inversion and eversion movements while maintaining stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional ankles include one servo, then the structure is simple, but the feet cannot rotate inwards and outwards (inversion and eversion)
Solution Approach 1:
The ankle assembly is divided into two independent driving assemblies: a first driving assembly for dorsiflexion/plantarflexion movement and a second driving assembly for inversion/eversion movement. Each assembly has its own servo motor and transmission mechanism, allowing independent control of different foot rotation directions while maintaining modular structure
Solution Approach 2:
The ankle assembly integrates multiple functions into a single unified structure that can perform both dorsiflexion/plantarflexion (via first driving assembly) and inversion/eversion (via second driving assembly). The connection support serves as a common platform that coordinates both driving assemblies, enabling the ankle to achieve comprehensive foot rotation capabilities
2Force
If ankles include two servos, then inversion and eversion are enabled, but the output shafts are small and transmission force is limited
Solution Approach 1:
A connection support is introduced as an intermediary component between the two driving assemblies. This connection support provides a stable mounting platform and force transmission interface, allowing the two servos to work cooperatively without interfering with each other's force output. The connection support acts as a mediator that distributes and coordinates the forces from both driving assemblies
Solution Approach 2:
The two driving assemblies are arranged in perpendicular orientations: the first driving assembly operates in one plane for dorsiflexion/plantarflexion, while the second driving assembly operates in a perpendicular plane for inversion/eversion. This spatial arrangement allows both assemblies to maintain adequate output shaft sizes and transmission forces without conflicting with each other
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 design enhances the ankle's rotational degrees of freedom and support, overcoming the limitations of limited driving force and enabling more versatile foot movements in humanoid robots.
Implementation Method 1
The first gear 102 and the second gear 103 are engaged with each other, and the number of teeth of the first gear 102 is smaller than the number of teeth of the second gear 103
Data Source
AI summary
A driving assembly for a joint of a robot includes a first driving source having a first output shaft; a second driving source; and a gear set including a first gear and second gear that are engaged with each other. The first gear is arranged around the first output shaft. An ankle assembly and a robot having the driving assembly are also provided.