Rope-Driven Flexible Robot Joint for Compact Exoskeleton Actuation
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Solution Overview
Problem
Existing exoskeleton robots with rigid drivers face challenges in controlling human-machine interaction, stability, and size, leading to potential harm and inefficiency due to their large structural size and weight, which restricts their application and transmission reliability.
Innovation Solution
A flexible driver with a compact structure utilizing a rope drive mechanism, including an active and driven rotating member with a rope wound around both, and a flexible driving part like a spring, allowing for efficient and reliable power transmission while reducing spatial size and weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a rigid driver is employed in exoskeleton robots, then the structural strength and stability are improved, but the ability to control human-machine interaction power is reduced and safety hazards increase
Solution Approach 1:
The patent changes the fundamental parameter of driver rigidity from rigid to flexible, transforming the system from a rigid connection to a flexible one that can adapt to human motion variations. This parameter change enables the driver to provide both structural support and adaptive power control, resolving the contradiction between stability and interaction control.
2Adaptability or versatility
If a flexible driver with screw or transmission gear structure is employed, then the human-machine interaction control is improved, but the structural size and weight increase
Solution Approach 1:
The patent extracts and removes the heavy screw and transmission gear components from the flexible driver structure. By eliminating these traditional power transmission elements, the driver achieves flexible power control while significantly reducing structural size and weight, thus resolving the contradiction between interaction control and weight.
3Adaptability or versatility
If a flexible driver with screw or transmission gear structure is employed, then the human-machine interaction control is improved, but the transmission efficiency and reliability decrease
Solution Approach 1:
The patent substitutes the mechanical screw and gear transmission system with a direct flexible connection mechanism. This replacement eliminates the intermediate transmission components that cause efficiency losses and reliability issues, while maintaining the flexible power control capability needed for human-machine interaction.
4Reliability
If a compact flexible driver structure is designed, then the transmission efficiency and reliability are improved, but the flexibility and adaptability may be reduced
Solution Approach 1:
The patent employs a flexible driver structure that utilizes flexible components to transmit power directly to the actuating mechanism. This flexible connection maintains high transmission reliability through direct power transfer while simultaneously providing the adaptability and flexibility needed for human-like motion, resolving the contradiction between reliability and flexible driving capability.
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
The flexible driver achieves compactness, enhanced transmission reliability, and efficiency, enabling flexible and reliable power transmission to external actuating mechanisms, making the robot more suitable for human-like movements and improving safety and usability.
Implementation Method 1
The flexible driving part may be a spring, and both ends of the spring correspondingly press against two end faces of each of the first receiving space and the second receiving space
Data Source
AI summary
A flexible driver, a robot joint, a robot and an exoskeleton robot, the transmission mechanism including an active rotating member, a driven rotating member and a rope, which form a rope drive relationship; wherein, the rope is tightly wound around rotating surfaces of the active rotating member and the driven rotating member, and a rotational central axis of the active rotating member is perpendicular to a rotational central axis of the driven rotating member. An output end of the driving mechanism is connected to the active rotating member, to drive rotation of the active rotating member. The output mechanism includes a flexible driving part, and an output part which is used for connecting to an external actuator. The driven rotating member drives rotation of the output part through the flexible driving part. The flexible driver drives flexibly the actuator through a compact structure as well as reliable and high-efficient transmission.