Robot Joint Drive PCB Sizing for Compact Arm Layouts
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Solution Overview
Problem
Existing robot designs face an issue where motor drive substrates of varying sizes are not optimized, leading to potential increases in robot size due to the use of common substrates that may be larger than necessary for certain joints, particularly those closer to the arm end.
Innovation Solution
The implementation of differentiated motor drive substrates of varying sizes based on the operational current requirements of each joint, with smaller substrates at the arm end and larger ones at the base, along with a distributed control system that separates motor control and drive substrates, optimizing their size and arrangement to reduce overall robot size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If common-sized motor drive substrates are used for all joints, then manufacturing simplicity and standardization are improved, but robot size increases due to using larger substrates for joints that require less power
Solution Approach 1:
The patent applies local quality by differentiating motor drive substrate sizes according to the specific power requirements of each joint. Joints closer to the arm end use smaller substrates while base joints use larger substrates, optimizing each local area's substrate size to match its actual operational needs rather than using a uniform size throughout.
Solution Approach 2:
The patent segments the motor drive substrate system into multiple size categories based on joint requirements. By dividing the substrate market into different size segments corresponding to different joint power needs, the system achieves both standardization within each segment and optimization across the entire robot.
2Power
If larger motor drive substrates are used for all joints, then sufficient power supply is ensured for all joints, but the robot size and weight increase unnecessarily
Solution Approach 1:
The patent ensures sufficient power supply by matching substrate size to local joint requirements. Each joint receives a substrate sized appropriately for its power needs, preventing the unnecessary weight of oversized substrates in joints that require less power while ensuring adequate power capacity where needed.
3Volume of moving object
If differentiated substrate sizes are implemented for each joint, then robot size is reduced, but manufacturing complexity and substrate variety increase
Solution Approach 1:
The patent reduces robot size by implementing local quality optimization, but manages the resulting substrate variety through systematic classification based on joint requirements. The differentiation is structured around clear criteria (joint position and power needs) that simplify the complexity management.
Data Source
AI summary
A robot includes at least two joints having a first joint and a second joint. The first joint is provided with a first drive source, and the second joint is provided with a second drive source. A motor drive substrate for driving the first drive source and a motor drive substrate for driving the second drive source are differentiated in size.