Upper-Limb Robot Clutch Mechanism for Posture Adaptation
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Solution Overview
Problem
Manual upper-limb-wearing robots are ineffective in assisting users in various postures, particularly when users lower their arms to carry items, as they primarily provide assistive power only when the arm is raised.
Innovation Solution
A manual upper-limb-wearing robot apparatus with a wire unit, clutch unit, and support unit that allows assistive power to be provided in multiple directions, utilizing a ratchet and pawl mechanism to restrict upward movement while allowing downward movement, thereby supporting the user's arm during item carrying.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the manual upper-limb-wearing robot provides assistive power only when the arm is raised, then the structure is simple, but the adaptability to various working postures is poor
Solution Approach 1:
The clutch unit dynamically changes its constraint state based on the support unit's rotation angle. When the support unit rotates within the first rotation range, the clutch unit restricts wire unit movement in one direction; when rotating within the second rotation range, it allows movement in both directions. This dynamic adaptation enables the device to assist multiple working postures (arm raised, arm lowered, item carrying) without requiring multiple separate mechanisms, thus improving adaptability while controlling structural complexity.
2Force
If the clutch unit restricts wire unit movement in both directions, then the support force is strong, but the ease of operation is reduced
Solution Approach 1:
The clutch unit provides directional support force by restricting wire unit movement only in the upward direction when the support unit is in the first rotation range, while allowing downward movement. This creates asymmetric support that matches the natural motion pattern of lifting items (downward movement is free, upward movement is assisted), providing strong support force where needed while maintaining ease of operation during natural arm movements.
3Adaptability or versatility
If the support unit has a large rotation range, then the adaptability to various postures is improved, but the device complexity increases
Solution Approach 1:
The clutch unit automatically adapts to different rotation ranges through its mechanical design. The pawl member engages with the ratchet member at specific rotation angles, automatically switching between restricting and allowing wire unit movement without requiring external control mechanisms. This passive dynamic adaptation enables the support unit to operate effectively across a large rotation range (first and second rotation ranges) while avoiding complex active control systems.
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
The apparatus effectively reduces the effort required for users to carry items by providing assistive power to both upper and lower arms, ensuring support in various working postures, including when the arm is lowered.
Implementation Method 1
a ratchet member disposed in the penetration region and having a first serrated section having a serrated shape and formed in a region facing the wire unit, and a pawl member configured to face the ratchet member with the wire unit interposed therebetween
Data Source
AI summary
An embodiment apparatus includes a wire unit surrounding a shoulder of a wearer, a clutch unit penetrated by the wire unit and disposed on a route along which the wire unit extends, and a support unit having a first side rotatably connected to the clutch unit and a second side supporting an elbow of the wearer.