Single-Motor Manipulator Robot with Link Transmission
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Solution Overview
Problem
Existing 2-degree-of-freedom manipulator robots are over-specified and costly when only 1-degree-of-freedom movement is required, due to their complex structure and the need for two motors, which are difficult to control for linear and curvilinear movements.
Innovation Solution
A manipulator robot design using a single motor and a pivoting force transmitting member, such as a belt or gear combination, to pivot two links, allowing for both linear and curvilinear movements by adjusting the lengths of the links and angles between them, enabling efficient 1-degree-of-freedom operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a 2-degree-of-freedom manipulator robot with two motors is used, then the robot can perform both linear and curvilinear movements, but the structure becomes complicated and costly when only 1-degree-of-freedom movement is required
Solution Approach 1:
The patent applies the dynamics principle by making the manipulator's configuration adjustable through interchangeable links with different lengths and angles. The system can dynamically adapt between 1-degree-of-freedom linear movement mode and 2-degree-of-freedom curvilinear movement mode by changing the physical configuration of the links, allowing the same hardware to serve multiple functional requirements without permanent complexity
Solution Approach 2:
The patent implements universality by designing a manipulator system where a single base unit can perform both 1-degree-of-freedom linear movements and 2-degree-of-freedom curvilinear movements. By using interchangeable links and a flexible transmission mechanism, the system becomes multi-functional, eliminating the need for separate specialized robots for different movement types
2Adaptability or versatility
If two motors are used to achieve 2-degree-of-freedom movement, then the robot can perform complex movements, but the control difficulty increases and costs rise
Solution Approach 1:
The system dynamically adjusts its control complexity by changing physical configuration rather than software complexity. When in 1-degree-of-freedom mode with a single motor, control is simplified to basic positional control. When switching to 2-degree-of-freedom mode, the physical reconfiguration inherently manages the coordination complexity, making control easier than programming complex multi-motor synchronization
3Device complexity
If a single motor with pivoting force transmitting member is used, then the structure is simplified and costs reduced, but the ability to perform curvilinear movements is limited
Solution Approach 1:
The patent resolves this contradiction by making the manipulator's geometry dynamic through interchangeable links. A single motor drives the system, but by physically swapping links with different length ratios and connection angles, the system dynamically changes its movement characteristics to achieve both linear and curvilinear trajectories, proving that geometric variability can compensate for reduced motor count
Solution Approach 2:
The system changes physical parameters of the manipulator structure by using interchangeable links with different lengths and angles. This parameter variation allows a single-motor system to achieve diverse movement patterns, demonstrating that structural parameter changes can expand functionality without increasing actuator count
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 solution simplifies the robot's configuration, reduces costs, and enables precise control of movements, allowing for effective use in various applications including pick and place, fusion, and cutting operations with reduced complexity and energy consumption.
Implementation Method 1
a belt connecting a second connection portion connecting the second link with one side of the first link and a first connection portion connecting another side of the first link
Implementation Method 2
a belt connecting a second connection portion connecting the second link with one side of the first link and a first connection portion connecting another side of the first link
Implementation Method 3
a gear combination including: a first gear located at a connection portion connecting the second link with one side of the first link and configured to rotate; a second gear located at the other side of the first link and configured to rotate; and a third gear disposed to transmit a rotational force of one of the first gear and the second gear as a rotational force to rotate the other
Data Source
AI summary
A manipulator robot is provided. The manipulator robot includes a first link. a second link including an end effector at one side thereof, the first link pivotably connected to another side of the second link, a single motor to provide a pivoting force for pivoting the first link and the second link, and a pivoting force transmitting member to transmit a pivoting force of one of the first link and the second link by the single motor to pivot the other.