Single-Motor 4-Bar Manipulator for Symmetric Link Motion
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Solution Overview
Problem
Existing manipulator robots with 2 degrees of freedom are over-spec, expensive, have a complicated structure, and are difficult to control due to requiring two motors for 1-degree-of-freedom movement, making them inefficient for applications requiring only one-degree-of-freedom movement.
Innovation Solution
A manipulator robot design utilizing two 4-bar links driven by a single motor, with a rotation mechanism and a controller to achieve 1-degree-of-freedom movement, allowing for both linear and various curved movements through gear configurations and symmetrical link movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a 2-degree-of-freedom manipulator robot with two links and two motors is used, then the robot can perform complex movements, but the structure becomes complicated and the cost increases
Solution Approach 1:
The patent merges two separate motor-driven link systems into a single motor system that controls two links through a rotation mechanism. The single motor drives a rotation mechanism that simultaneously controls the first and second links, reducing the number of motors from two to one while maintaining the ability to perform complex movements through coordinated link motion.
Solution Approach 2:
The rotation mechanism serves multiple functions: it transmits drive power from the single motor to both links, enables coordinated movement of the two links, and provides the rotational motion needed for the end effector to achieve 1-degree-of-freedom movement. This multi-functional mechanism replaces what would traditionally require separate motor systems.
2Adaptability or versatility
If a 2-degree-of-freedom manipulator robot with two motors is used, then the robot can perform complex movements, but the manufacturing cost increases
Solution Approach 1:
The patent combines two motor systems into one by using a single motor that drives a rotation mechanism controlling both links. This reduction from two motors to one directly lowers manufacturing costs while the rotation mechanism ensures both links can still perform complex coordinated movements.
3Adaptability or versatility
If a 2-degree-of-freedom manipulator robot with two motors is used, then the robot can perform complex movements, but the control difficulty increases
Solution Approach 1:
The patent merges control of two links under a single motor system with a rotation mechanism. Instead of controlling two independent motors, the system controls one motor that automatically coordinates both links through the rotation mechanism, simplifying the control architecture and reducing control difficulty.
Solution Approach 2:
The rotation mechanism automatically coordinates the motion of both links based on the single motor's input, eliminating the need for complex control algorithms to synchronize two separate motors. The mechanism itself performs the coordination function, reducing the control system's burden.
4Device complexity
If a single motor is used to drive one link, then the structure is simple, but the robot can only perform 1-degree-of-freedom movement
Solution Approach 1:
The patent combines a single motor with a rotation mechanism that extends its influence to control two links simultaneously. This allows the simple single-motor structure to achieve enhanced functionality, enabling the end effector to perform 1-degree-of-freedom movement while the links provide the necessary support and motion coordination.
Solution Approach 2:
The rotation mechanism acts as an intermediary between the single motor and the two links. It translates the motor's single input into coordinated motion of both links, enabling the simple motor structure to achieve complex link movements that would otherwise require multiple motors.
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 design simplifies the robot structure, reduces manufacturing costs, and enables stable, versatile movement capabilities, including linear and curved paths, while maintaining control simplicity.
Implementation Method 1
The rotation mechanism may include: a first gear configured to rotate in accordance with drive power supplied to the first 4-bar link; and a second gear configured to rotate, corresponding to rotation of the first gear.
Data Source
AI summary
A manipulator robot includes a first 4-bar link, a second 4-bar link to move symmetrically with the first 4-bar link, a single motor connected to one of the first 4-bar link and the second 4-bar link to supply driver power to the first 4-bar link and the second 4-bar link, and a rotation mechanism to interconnect the first 4-bar link and the second 4-bar link to transmit drive power supplied to one of the first 4-bar link and the second 4-bar link to the other of the first 4-bar link and the second 4-bar link.