Robotic Joint Gear Shifting for Variable Torque and Speed
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Solution Overview
Problem
Robotic joints face challenges in achieving high torque and speed outputs within small size constraints due to fixed and non-adjustable gear ratios, limiting their versatility in handling objects of varying sizes and weights.
Innovation Solution
A robotic joint with a transmission system that can automatically or manually shift between gear sets, using sensors and actuators to adjust gear ratios based on object size and weight, allowing for variable torque and speed outputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed gear ratio is used in the robotic joint, then the structure is simple and reliable, but the torque and speed output cannot be adjusted for different object sizes and weights
Solution Approach 1:
The patent applies the dynamics principle by implementing a transmission system that can dynamically switch between different gear ratios based on operational requirements. The robotic joint transitions from a fixed gear ratio to a variable gear ratio system, allowing the torque and speed output to be adjusted in real-time according to the size and weight of objects being manipulated. This is achieved through multiple gear sets that can be engaged or disengaged during operation.
Solution Approach 2:
The transmission system is segmented into multiple gear sets with different gear ratios, allowing independent selection of appropriate gear combinations for different operational scenarios. Each gear set can be engaged or disengaged based on the specific task requirements, enabling the system to optimize performance for varying load conditions without requiring a complete redesign of the transmission system.
2Force
If a gearing system is added to increase torque output, then the torque capacity increases, but the output speed decreases due to inverse proportionality
Solution Approach 1:
The system dynamically adjusts the gear ratio selection based on real-time operational requirements. When high torque is needed for heavy objects, the system engages gear sets with higher reduction ratios. When high speed is needed for light objects, the system switches to gear sets with lower reduction ratios or direct drive modes, thereby eliminating the fixed inverse relationship between torque and speed.
Solution Approach 2:
The patent changes the gear ratio parameter dynamically during operation. By providing multiple gear sets with different ratio values and enabling selective engagement, the system can alter the torque-speed characteristics to match the specific demands of different tasks, rather than being constrained to a single fixed ratio.
3Volume of moving object
If the robotic joint size is constrained, then the physical structure is compact, but achieving high torque and speed outputs becomes difficult
Solution Approach 1:
The compact robotic joint achieves high power output through dynamic gear ratio adjustment. By incorporating multiple gear sets that can be switched during operation, the system maximizes the utilization of the limited space within the joint. The ability to change gear ratios allows the same compact actuator to deliver both high torque (with reduced gear ratios engaged) and high speed (with increased gear ratios engaged), effectively doubling the power output capability without increasing joint size.
Data Source
AI summary
A robotic joint contains a transmission system that can shift from one gear set to another, either automatically or manually, allowing the joint to have different gear ratios that can drive different speeds and output torques. The transmission system is coupled to a driving actuator enclosed within the robotic joint, which may use a secondary actuator to activate a clutch such that it can shift the transmission from one gear set to another. A feedback system using sensors embedded within the robotic joint as well as sensors distributed within the environment may be used to detect the size and weight of an object that the robotic arm and its joints will be manipulating.