Robot Arm Power Transmission via Steel Ropes and Stopping Component
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Solution Overview
Problem
Conventional robot arms with motors directly mounted on each joint result in complex structures, increased inertia, and restricted motion due to steel ropes used for power transmission, limiting degree-of-freedom and shortening the service life of the ropes.
Innovation Solution
A power transmission mechanism using two power sources connected to a stopping component via steel ropes, which transmits power to a joint component, allowing two-degree-of-freedom motions and adjusting power transmission according to the support arm length without tension adjustments, thereby extending the service life and reducing power loss.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If motors are directly mounted on each joint, then power transmission is direct and efficient, but the structure becomes complicated and inertia increases
Solution Approach 1:
The patent extracts the motor from the joint location and places it at the base of the robot arm. Power is transmitted through steel ropes from the base to the joints, thereby simplifying the joint structure while maintaining power transmission capability. This resolves the contradiction by separating the power source from the moving joints.
Solution Approach 2:
The patent introduces steel ropes as an intermediary power transmission medium between the base motor and the joints. This mediator allows power to be transmitted over distance without requiring direct motor mounting at each joint, thus reducing structural complexity while maintaining efficiency.
2Power
If motors are directly mounted on each joint, then power transmission is direct, but the robot arm rotates under large inertia
Solution Approach 1:
By extracting the motor from the joint and relocating it to the base, the patent removes the heavy motor mass from the moving parts. This significantly reduces the moment of inertia at each joint, allowing faster and more energy-efficient rotations while power is transmitted through lightweight steel ropes.
3Device complexity
If steel ropes are used for power transmission, then motor mounting complexity is reduced, but the ropes wind together and restrict motion
Solution Approach 1:
The patent segments the power transmission system by using separate steel ropes for different motion directions. Multiple independent ropes transmit power for different degrees of freedom separately, preventing them from winding together and restricting motion. This segmentation maintains full adaptability while simplifying configuration.
4Adaptability or versatility
If support arm length is increased to widen working range, then working range expands, but steel rope load increases and service life shortens
Solution Approach 1:
The patent uses the stopping component as an intermediary mechanism between the steel ropes and the support arm. This component optimizes the force distribution and reduces the effective load on the steel ropes by providing mechanical advantage, thereby extending rope service life while maintaining extended working range capability.
Data Source
AI summary
A power transmission mechanism and a robot arm using the same are described. The power transmission mechanism at least includes a first power source, a second power source, a plurality of steel ropes, a support arm component, a stopping component and a joint component. The stopping component is disposed in the support arm component and includes a first stopping unit and a second stopping unit that rotate coaxially. The first and second power sources and the joint component are disposed at two ends of the support arm component. The first and second power sources transmit power via the first stopping unit and the second stopping unit through the plurality of steel ropes to drive the joint component to perform a two-degree-of-freedom motion. The support arm component and the joint component can be applied in an upper arm and an elbow of a robot arm, thereby constituting a multi-degree-of-freedom robot arm.