Robot Link Structure with Protruding Section for Rigidity
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Solution Overview
Problem
Existing robots lack efficient mechanisms for weight reduction and rigidity improvement in their link structures, which affects their performance and versatility in industrial and other applications.
Innovation Solution
The robot incorporates a link structure with a connecting section, a link base section crossing the rotation axis, and a protruding section that enhances rigidity while allowing for weight reduction. This design includes ribs and surrounding walls to further reinforce the link, improving both flexural and torsional rigidity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the link structure uses a simple design without additional reinforcing sections, then the manufacturing process is simple and device complexity is low, but the rigidity and structural integrity are insufficient
Solution Approach 1:
The link is divided into distinct functional sections: a connecting section for actuator attachment, a link base section that crosses the rotation axis, and a protruding section that extends outward. This segmentation allows each section to be optimized independently for its specific function while maintaining overall structural integrity and rigidity.
Solution Approach 2:
The protruding section extends in a direction that is not along the rotation axis, creating a three-dimensional structure that provides rigidity in multiple directions. This dimensional extension allows the link to resist forces from various orientations without requiring additional reinforcing elements that would increase complexity.
2Strength
If the link base section is made thicker to increase rigidity, then the structural integrity improves, but the weight of the robot increases
Solution Approach 1:
The link structure implements local quality by concentrating material only where structurally necessary. The link base section that crosses the rotation axis is reinforced to handle the bending moments and forces at that critical location, while other portions of the link maintain a lighter cross-section. This localized reinforcement provides the required structural integrity without uniformly increasing the overall weight of the link.
Solution Approach 2:
The protruding section provides structural support in a third dimension, extending perpendicular to both the rotation axis and the link's longitudinal axis. This three-dimensional configuration creates a more efficient load-bearing structure that achieves higher rigidity with less material compared to a traditional thicker, two-dimensional link design.
3Stability of the object's composition
If the link includes a protruding section and ribs, then the flexural and torsional rigidity are enhanced, but the manufacturing complexity and device complexity increase
Solution Approach 1:
The protruding section and ribs are integrated into a single monolithic link structure rather than being separate components. This merging of features into one piece reduces the number of parts that need to be manufactured and assembled, thereby reducing manufacturing complexity despite the enhanced geometric complexity of the individual link.
Solution Approach 2:
The link is segmented into functional zones with the protruding section providing torsional resistance and the ribs providing flexural support. This segmentation of structural functions within a single component allows for optimized rigidity characteristics without requiring multiple separate reinforcing elements that would complicate manufacturing.
Data Source
AI summary
A robot includes a link, and an actuator configured to rotate the link around a rotation axis. The link includes a connecting section connected to the actuator, a link base section crossing the rotation axis to extend from the connecting section, and a protruding section protruding from the link base section at a position away from each of the connecting section and an end portion of the link base section between the connecting section and the end portion of the link base section.