Robot Joint Safety Architecture With Redundant Motion Sensing
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Solution Overview
Problem
Existing robotic arms lack efficient safety features and redundant systems to ensure human safety in collaborative environments, and there is a need for more compact designs.
Innovation Solution
A joint assembly for a robot that includes a joint housing, two motors, and circuitry with processing units to control the motors and perform redundant calculations of motion characteristics, reducing the need for extensive circuitry and enabling simpler, more cost-effective robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If redundant safety systems and sensors are added to ensure human safety in collaborative environments, then safety and reliability are improved, but device complexity and cost increase
Solution Approach 1:
The patent combines multiple processing functions into a single integrated processing unit within the joint assembly. This processing unit handles motor control, sensor data processing, and safety monitoring functions that would traditionally require separate systems, thereby reducing overall device complexity while maintaining redundant safety capabilities through software-based monitoring
Solution Approach 2:
The processing unit is designed to perform multiple functions: controlling motor operation, processing sensor signals, performing redundant calculations of motion characteristics, and monitoring safety parameters. This multi-functional approach eliminates the need for separate dedicated systems for each function, reducing complexity while ensuring safety
2Reliability
If more sensors and processing units are added for redundant calculations and safety monitoring, then reliability is improved, but the size and volume of the robot increase
Solution Approach 1:
The patent integrates the processing unit and multiple sensors within the existing joint assembly housing, nesting these safety and control components within the structural framework already present. This approach allows redundant safety systems to be accommodated without significantly increasing the external dimensions of the robot joints
3Reliability
If extensive circuitry and processing units are added for safety monitoring and redundant calculations, then safety is improved, but manufacturing cost increases
Solution Approach 1:
The patent consolidates multiple processing functions into a single integrated processing unit, reducing the amount of circuitry and components required. This merging approach lowers manufacturing costs by reducing component count, assembly steps, and PCB complexity while maintaining all necessary safety and control functions
Data Source
AI summary
The present disclosure relates to a joint assembly and a robot comprising a joint assembly, the joint assembly comprising: a joint housing, a first motor connecting the joint housing with a first link and the first motor being adapted to rotate the first link relative to the joint housing around a first axis, a second motor connecting the joint housing with a second link and the second motor being adapted to rotate the second link relative to the joint housing around a second axis non-parallel with the first axis, circuitry accommodated in the joint housing and comprising a first processing unit and a second processing unit, the first processing unit being adapted to control the first motor and the second processing unit being adapted to control the second motor. The first processing unit receives, from a first primary sensor, a first primary sensor signal indicative of a first motion characteristic of the first link relative to the joint housing and calculates the first motion characteristic of the first link relative to the joint housing at least based on the first primary sensor signal, and the second processing unit receives, from a first secondary sensor, a first secondary sensor signal indicative of the first motion characteristic of the first link relative to the joint housing and calculates the first motion characteristic of the first link relative to the joint housing at least based on the first secondary sensor signal.