Robotic Elbow Two-Bar Linkage Flexion Control
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Solution Overview
Problem
There is a need for a robotic system that can be easily integrated into diverse environments to assist or substitute for humans, particularly in hazardous or uninhabitable conditions, with a focus on articulated arms for humanoid robots that provide flexible and efficient movement.
Innovation Solution
The development of a robotic elbow mechanism that can be coupled with other segments of an articulated arm, featuring a first actuator with a rotary output and a flexion frame, along with a two-bar linkage mechanism for flexion movement and a rotation actuator for rotational movement, allowing for two degrees of freedom and efficient integration with a robotic wrist and shoulder.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic elbow mechanism with multiple degrees of freedom is implemented, then flexibility and adaptability are improved, but device complexity increases
Solution Approach 1:
The robotic elbow is divided into distinct functional segments: a flexion system with two-bar linkage for bending movement, and a rotation system with separate actuator for rotational movement. This segmentation allows each degree of freedom to be controlled independently while maintaining overall flexibility, resolving the contradiction between adaptability and complexity.
Solution Approach 2:
The robotic elbow employs dynamic actuation systems where the first actuator controls flexion through variable linkage geometry and the second actuator controls rotation. This dynamic control enables the mechanism to adapt its configuration and movement characteristics in real-time, achieving high flexibility without requiring an overly complex static structure.
2Measurement precision
If a two-bar linkage mechanism with rotary phase displacement is used, then positioning precision is improved, but manufacturing complexity increases
Solution Approach 1:
The two-bar linkage mechanism utilizes controlled rotary phase displacement between links to achieve precise positioning. By varying the phase relationship and angular parameters of the linkage components, the system can accurately control the position and orientation of the end effector. The manufacturing complexity is managed through standardized component design that incorporates these parameter variations.
Data Source
AI summary
A robotic elbow has a first actuator having a rotary output and a first interface for coupling the elbow to a first robotic arm segment. A flexion frame rotatably mounts to the first actuator. A first link is coupled at one end to the output of the first actuator and at another end to the flexion frame. A second link is coupled at one end to the output of the first actuator and at another end to the flexion frame. The first link and the second link are coupled to the rotary output in a selected rotary phase displacement. A second actuator is mounted in the flexion frame, the second actuator has an output and a second interface for coupling the robotic elbow to a second robotic arm segment.