Robotic Joint Length Adapter for Energy Recovery
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Solution Overview
Problem
Robotic systems face challenges in minimizing power consumption while maintaining sufficient force output, particularly during varying operations like walking or running gaits, where energy efficiency is compromised due to changing load conditions.
Innovation Solution
A robotic joint system incorporating a passive actuation system with a hydraulic cylinder and length adapter that stores and releases energy efficiently, using a bistable mechanism to adjust its state between heel-strike and toe-off phases, allowing energy absorption and torque application based on the gait cycle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If high-output power systems are employed to meet force output demands, then force output capability is improved, but power consumption increases and efficiency deteriorates
Solution Approach 1:
The passive actuator operates periodically by storing energy during heel-strike phase and releasing it during toe-off phase of the gait cycle. This periodic energy storage and release mechanism allows the system to meet high force output demands only when necessary, rather than continuously operating high-power systems, thereby improving efficiency while maintaining force capability.
Solution Approach 2:
The system recovers and stores energy that would otherwise be lost during heel-strike impact. The passive actuator captures this impact energy and stores it for later release during toe-off, converting what would be wasted energy into useful work, thereby reducing overall power consumption while maintaining force output.
2Use of energy by moving object
If efficient power systems are employed to improve energy efficiency, then power consumption is reduced, but force output capability deteriorates
Solution Approach 1:
The passive actuator is designed to provide force output only during specific phases of the gait cycle (toe-off phase) when it is most needed, rather than continuously. During heel-strike phase, it stores energy instead of providing force. This periodic operation allows efficient power systems to meet force demands without continuous high power consumption.
Solution Approach 2:
The system recovers impact energy during heel-strike that would otherwise be wasted, and stores it for use during toe-off phase. This energy recovery mechanism allows the system to maintain force output capability while using more efficient power systems, as the recovered energy supplements the output of efficient actuators during high-demand periods.
3Use of energy by moving object
If passive actuators are used to store and release energy selectively, then energy efficiency is improved, but device complexity increases due to additional components
Solution Approach 1:
The passive actuator is integrated directly into the joint assembly of the robotic limb, merging the energy storage and release function with the existing actuation system. This integration approach allows the passive actuator to work in conjunction with active actuators without requiring completely separate systems, thereby improving energy efficiency while limiting the increase in overall device complexity.
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 enhances energy efficiency by storing energy during heel-strike and releasing it during toe-off, reducing power consumption and maintaining effective force output across different gait phases, thereby improving the power-to-energy output ratio.
Implementation Method 1
a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members
Implementation Method 2
The hydraulic cylinder can also comprise an incompressible fluid disposed in the first and second chambers
Data Source
AI summary
A robotic joint system is provided that facilitates efficient movement of a ground-contacting robotic system, such as during a gait cycle. The robotic joint system can comprise a first support member, a second support member, and a joint assembly rotatably coupling the first support member to the second support member about an axis of rotation. The joint assembly can comprise a passive actuation system coupled between the first and second support members. The passive actuation system can comprise a passive actuator operable to store energy and to release energy to apply a torque to the joint assembly and the first and second support members, and a length adapter coupled to the passive actuator operable to selectively direct the output of the stored energy of the passive actuator.