Robot Joint Structure with Cross-Shaped Connectors for Stiffness
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Solution Overview
Problem
Current robot joint structures lack sufficient rotational stiffness and durability to mimic human-like motion effectively, and they often require a bulky design to accommodate drive mechanisms, limiting their compactness and functionality in humanoid robots.
Innovation Solution
A robot joint structure with reinforced rotational stiffness is achieved by using two joints arranged in mirror image symmetry, connected through cross-shaped connectors and a drive mechanism positioned between spaced frames, allowing efficient space arrangement and compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a single joint structure is used to connect robot bodies, then the device complexity is reduced, but the rotational stiffness and durability are insufficient
Solution Approach 1:
The patent combines two joint structures into a single integrated unit where the first and second joints work together to connect the first and second bodies. This merging approach increases rotational stiffness and durability while maintaining manageable complexity through unified design and shared components.
Solution Approach 2:
The joint structure employs asymmetric connector arrangements where the first joint includes connectors extending in specific directions and the second joint includes connectors positioned differently, creating an asymmetric configuration that optimizes rotational stiffness while distributing structural loads effectively.
2Strength
If drive mechanisms are positioned outside the frame structure, then the rotational stiffness is improved, but the overall device size becomes bulky
Solution Approach 1:
The drive mechanism is nested within the frame structure, with the driver positioned inside the space formed by the first and second frames. This nesting approach allows the drive mechanism to be accommodated within the existing structural volume, maintaining rotational stiffness while avoiding increased overall device size.
Solution Approach 2:
The joint structure utilizes three-dimensional spatial arrangement where connectors extend in multiple directions and the drive mechanism is positioned in the vertical dimension between the first and second bodies, efficiently utilizing available space without increasing the horizontal footprint of the robot hand.
3Volume of moving object
If connectors are arranged in a compact configuration, then the device volume is reduced, but the rotational stiffness may be compromised
Solution Approach 1:
The connector structure employs local quality optimization where specific regions have enhanced stiffness properties. The first and second joints have connectors with varying thicknesses and material distributions tailored to local stress requirements, providing high rotational stiffness in critical areas while maintaining overall compact dimensions.
Solution Approach 2:
The connectors incorporate curved portions instead of straight rigid elements, allowing for more efficient stress distribution and better rotational characteristics within a compact volume. The curved geometry provides structural strength while reducing the overall size of the joint assembly.
Data Source
AI summary
The robot joint structure includes a first body, a second body disposed to be spaced apart from the first body, a first joint configured to connect the first body and the second body, and a second joint disposed to face the first joint and configured to connect the first body and the second body. The first joint includes a first connector and a second connector that cross each other and the second joint includes a third connector and a fourth connector that cross each other.