Series Elastic Robotic Limb Power Modulation
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Solution Overview
Problem
Existing robotic locomotion systems face limitations in power output due to reliance on motor power, with energy storage methods like springs being difficult to control and causing erratic movements, and requiring latches that introduce time delays, making high-frequency motions challenging.
Innovation Solution
The implementation of a series elastic robotic limb that transitions between configurations to vary mechanical advantage, storing and releasing energy without latches, using a link assembly with pivotable links to amplify forces and achieve controlled motion, such as jumping, by maximizing mechanical advantage in an extended configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If energy storage methods like springs are used to increase power output, then power output is improved, but control becomes difficult and movements become erratic
Solution Approach 1:
The robotic limb dynamically transitions between folded and extended configurations to modulate mechanical advantage. The link assembly pivots between different angles, allowing the system to adapt its force amplification ratio in real-time, improving both power output and control precision simultaneously
Solution Approach 2:
The system changes the mechanical advantage parameter by altering the configuration angle of the link assembly. As the limb transitions from folded to extended, the mechanical advantage varies continuously, enabling controlled power modulation without erratic movements
2Ease of operation
If latches are used to control energy storage and release, then energy release is controlled, but time delays are introduced that challenge high-frequency motions
Solution Approach 1:
The latch mechanism is completely removed from the system. Instead of using a latch to hold and release energy, the invention uses the dynamic configuration transition of the link assembly itself to control energy storage and release, eliminating time delays and enabling high-frequency motions
Solution Approach 2:
The robotic limb uses its own configuration transitions to control energy storage and release without external latches. The folded configuration naturally stores energy while the extended configuration releases it, creating a self-regulating system that operates at high frequencies
3Device complexity
If motor power alone is used for robotic locomotion, then system simplicity is maintained, but power output is limited
Solution Approach 1:
The system introduces a dynamic link assembly with pivotable links that transitions between folded and extended configurations. This adds controlled complexity to the mechanical structure, enabling force amplification through varying mechanical advantage while maintaining overall system simplicity
Solution Approach 2:
The link assembly is nested within the robotic limb structure, with links that can pivot and extend. When folded, the links are compact; when extended, they provide force amplification. This nested design increases power output without significantly increasing overall system 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 approach increases power output beyond motor limitations, enables controlled and repeatable high-frequency motions, and directs force to achieve straight path movement without rotational moments, enhancing the range and efficiency of robotic locomotion.
Implementation Method 1
an energy storage element configured to store energy when deformed by the energy generator and release the stored energy
Implementation Method 2
the link assembly in the second configuration may amplify the force output by the energy generator and the force output by the energy storage element
Data Source
AI summary
A series elastic robotic limb may include an energy generator, an energy storage element, and a link assembly. The link assembly may include a plurality of links coupled, via one or more joints, at one or more pivot locations. The energy generator may output a first force that causes an accumulation of energy in the energy storage element while the link assembly is in a first configuration and transitions the link assembly from the first configuration to a second configuration. The energy storage element may release the energy accumulated in the energy storage element when the link assembly is in the second configuration. The link assembly in the second configuration may trigger a motion of the series elastic robotic limb by at least amplifying the first force output by the energy generator and a second force associated with the energy released from the energy storage element.