Robot Serial Sensor Multiplexing for Compact Design
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Solution Overview
Problem
Existing robot systems face challenges with increased size and weight due to the large number of signal lines required for encoder and sensor connections, which limits their compactness and efficiency.
Innovation Solution
A robot system design that utilizes a serial communication system with multiplexing circuits to reduce the number of signal lines by connecting sensors and control units through serial wires, allowing for the addition of more sensors without increasing the number of lines, thereby reducing the robot's size and weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a dedicated signal line is connected to each encoder in the robot arm, then the controller can accurately detect the rotation angle of each motor, but the number of signal lines increases and the robot arm becomes thick
Solution Approach 1:
Multiple encoder signal lines are merged into a single shared signal line through time-division multiplexing. The controller sequentially communicates with multiple encoders connected to the same signal line, allowing accurate detection of rotation angles while reducing the number of physical signal lines required.
Solution Approach 2:
A single signal line is designed to serve multiple functions by sequentially connecting to multiple encoders. The signal line acts as a universal communication channel that can detect rotation angles from different motors at different time slots, eliminating the need for dedicated signal lines for each encoder.
2Measurement precision
If multiple sensors are provided in the robot arm for accurate control, then the control precision improves, but the number of signal lines increases and the robot arm becomes thick
Solution Approach 1:
Signal lines from multiple different sensors (encoders, angular velocity sensors, etc.) are merged into shared signal lines through time-division multiplexing. The controller sequentially communicates with different sensor types on the same signal line, enabling accurate multi-sensor detection while minimizing the number of physical lines.
Solution Approach 2:
A single signal line is designed to universally support multiple sensor types by time-division multiplexing. The same signal line can detect signals from encoders, angular velocity sensors, and other sensors at different time slots, making the signal line multi-functional and reducing overall system complexity.
3Measurement precision
If the number of encoders and signal lines is increased to improve control accuracy, then the detection precision improves, but the robot arm becomes thick and the robot size increases
Solution Approach 1:
Multiple encoder signal lines are merged into a single shared signal line through time-division multiplexing, reducing the space required for signal lines in the robot arm and allowing accurate detection without increasing arm volume.
Solution Approach 2:
The system transitions from spatial multiplexing (dedicated signal lines for each encoder) to temporal multiplexing (time-division sharing of signal lines). This dimensional change allows multiple encoders to share the same physical space, reducing robot arm size while maintaining detection accuracy.
Data Source
AI summary
A robot is controlled by a control unit. The robot includes: a first sensor; a second sensor; a third sensor; a fourth sensor; a first circuit capable of transmitting and receiving signals to and from the first sensor and the second sensor; and a second circuit capable of transmitting and receiving signals to and from the third sensor and the fourth sensor. The control unit and the first circuit are connected through a first serial wire, and the first circuit and the second circuit are connected through a second serial wire.