Robot Hip Joint Parallel-Axis Layout for Stair-Climbing Mobility
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Solution Overview
Problem
Existing robot hip joints with human-like degree-of-freedom deployment are inefficient and lack flexibility, particularly in scenarios requiring complex movements such as climbing stairs.
Innovation Solution
A robot hip joint design with parallel axes configuration and integrated driver assemblies, allowing independent and coordinated rotation of leg and waist components, enhancing mobility and balance through a compact structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If serial or parallel 2/3 degree-of-freedom implementation form is used, then human-like degree-of-freedom deployment is achieved, but mechanical efficiency and driving efficiency are insufficient
Solution Approach 1:
The hip joint is divided into separate functional modules: a support assembly, a drive assembly with multiple independent drivers, and an execution assembly with movable members. Each driver independently controls specific movement degrees of freedom, allowing optimized power transmission paths and reducing energy loss in each segment while maintaining overall human-like degree of freedom
Solution Approach 2:
The patent introduces parallel axes configuration where the first axis (for leg rotation) and second axis (for waist rotation) are parallel to each other. This spatial arrangement allows independent rotation of leg and waist components without interfering with each other, improving mechanical efficiency by eliminating cross-coupling losses while preserving human-like movement capabilities
2Ease of operation
If integrated driver assemblies are used, then mobility and balance are improved, but device complexity increases
Solution Approach 1:
The drive assembly uses standardized driver units that can perform multiple functions. Each driver is capable of independent rotation and can control different movable members through transmission connections. This multi-functionality reduces the need for specialized components for each degree of freedom, improving mobility and balance while managing complexity through component reuse
Solution Approach 2:
Multiple drivers are integrated into a single drive assembly that shares common support structures and control systems. The first driver, second driver, and third driver are combined in space with coordinated control, allowing synchronized movement of leg and waist components. This merging improves operational efficiency and balance while containing complexity through integrated design
3Productivity
If parallel axes configuration is used, then coordinated movement of leg and waist components is enabled, but manufacturing precision requirements increase
Solution Approach 1:
The parallel axes are implemented as separate, modular components - the first axis for leg rotation and the second axis for waist rotation are distinct and can be manufactured and assembled independently. This segmentation allows each axis to be precision-manufactured separately using standard processes, then integrated with controlled tolerance accumulation, reducing overall manufacturing precision requirements while maintaining coordinated movement efficiency
Data Source
AI summary
A robot hip joint apparatus, method, and control apparatus providing enhanced mobility and control. The robot hip joint includes a support assembly, a drive assembly comprising first, second, and third drivers, and an execution assembly comprising first and second movable leg members and a movable waist member. The first and second movable leg members are separately and rotatably connected to the support assembly, with the first and second drivers configured to drive their respective leg members to rotate around a first axis. The method and control apparatus determine a motion mode of the robot hip joint, generate a control signal based on the motion mode, and transmit the control signal to the drive assembly to control the movement of the leg and waist members for coordinated robotic motion.