Robotic Actuator Braking Circuit Using Motor Winding Shorting
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Solution Overview
Problem
Robotic systems face hazards due to loss of control over joints, such as during power loss or emergency stops, leading to potential crashes.
Innovation Solution
An electronic circuit with a charge storing component and switching components is used to short motor windings in robotic actuators, providing passive damping and braking without physical brakes or additional control systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If physical brakes or additional control systems are used to stop robotic actuators, then stopping reliability is improved, but device complexity increases
Solution Approach 1:
The patent replaces mechanical braking systems with an electrical solution that uses the motor's own windings to generate braking force. By shorting the motor windings through switching components, the system creates a passive electromagnetic brake without mechanical contact, eliminating the need for physical brakes and reducing system complexity.
Solution Approach 2:
The motor serves its own braking function by using its windings to generate the braking force needed to stop the actuator. The charge storing component provides the energy needed to activate the switching components, allowing the motor to brake itself without requiring an external braking system.
2Device complexity
If passive damping is implemented without physical brakes, then device complexity is reduced, but stopping force may be insufficient
Solution Approach 1:
The patent changes the electrical parameters of the motor by shorting the windings, which fundamentally alters the motor's behavior from a drive device to a braking device. This parameter change enables the generation of sufficient braking force through electromagnetic induction without requiring mechanical braking components.
Solution Approach 2:
The switching components periodically connect and disconnect the charge storing component to the motor windings, creating a pulsating braking effect. This periodic action allows the system to build up sufficient stopping force through repeated electromagnetic pulses while maintaining a simple overall system architecture.
3Measurement precision
If additional voltage regulation is added to control motor braking, then braking precision is improved, but device complexity increases
Solution Approach 1:
The charge storing component automatically provides the necessary voltage and current to the switching components when activated, eliminating the need for external voltage regulation circuitry. The system self-regulates by using the stored charge to drive the braking operation without requiring additional control electronics.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables safe, simple, and effective stopping of robotic systems by using locally stored charge to short motor windings, preventing sudden crashes and ensuring safer operation.
Implementation Method 1
an electronic circuit that provides locally stored charge upon a loss of primary power to the motor(s)
Implementation Method 2
charge from the charge storing component can automatically flow to a set of one or more switching devices, which can in turn short certain windings of the motor(s) moving the actuator(s)
Data Source
AI summary
An electronic circuit comprises a charge storing component, a set of one or more switching components coupled to the charge storing component, and an additional switching component coupled to each of the one or more switching components in the set. The additional switching component is configured to operate in a first state or a second state based on a received current or voltage. The first state prevents current to flow from the charge storing component to each of the one or more switching components in the set and the second state allows current to flow from the charge storing component to each of the one or more switching components in the set.