Robot Unit With Shared Counter Actuator for Compact Design
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Solution Overview
Problem
Existing robot units require a large number of drive units to achieve complete actuation, leading to a bulky design and reduced dexterity, as they often need two drive units for each degree of freedom, which can be inefficient in compact designs and production applications.
Innovation Solution
A robot unit design where a single counter actuator device is used to move multiple members in a common direction, reducing the number of drive units required while maintaining dexterity by utilizing separate actuators for independent movement in specific directions, and incorporating elastic elements for force transmission through cable pulls.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If two drive units (actuator and counter actuator) are used for each degree of freedom to achieve complete actuation, then the robot unit can move members independently in each direction, but the number of drive units increases significantly leading to bulky design and reduced compactness
Solution Approach 1:
The patent merges the counter actuator functions for multiple members into a single shared counter actuator device. Instead of having separate counter actuators for each member, one counter actuator device serves multiple members simultaneously, reducing the total number of drive units while maintaining the ability to control each member's movement in both directions
Solution Approach 2:
The single counter actuator device is designed to perform multiple functions by controlling the movement of different members. This multi-functional approach allows one device to replace what would traditionally require multiple separate devices, achieving complete actuation with fewer components
2Device complexity
If counter actuators are replaced with passive elements like springs or rubber, then the number of drive units is reduced, but the remaining actuator must be more powerful to overcome the resistance force of the passive element, resulting in loss of driving force
Solution Approach 1:
The counter actuator device enables members to return to their initial positions autonomously without requiring external active control. The counter actuator provides the necessary counterbalancing force automatically, allowing the system to self-regulate and reducing the power requirements of the main actuators
3Device complexity
If degrees of freedom of different members are coupled together with one actuator and one counter actuator, then the number of drive units is reduced, but the dexterity of the robot unit decreases greatly
Solution Approach 1:
The patent segments the control system into separate actuators for each member while sharing a common counter actuator device. This segmentation allows independent control of each member's active movement (maintaining dexterity) while the shared counter actuator handles the passive return movements, achieving a balance between component reduction and performance maintenance
Data Source
AI summary
Various embodiments include a robot unit for a technical apparatus comprising: a base connecting the robot unit to the technical apparatus; a first member pivot-mounted on the base; and a second member pivot-mounted on the base or the first member. The first member and the second member are each movable in one direction relative to a degree of freedom by a separate actuator. The first member and the second member are only movable together counter to the direction relative to the degree of freedom by a single counter actuator device.