Single Servo Spatial Linkage for Robot Arm Degrees of Freedom
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Solution Overview
Problem
The use of two servos for the shoulder and elbow joints in humanoid robots is not cost-effective for achieving two degrees of freedom in the arm.
Innovation Solution
A spatial linkage mechanism comprising a chest assembly, a servo, a first linkage member, and a second linkage member, where the servo is secured within the chest assembly, and the linkage members are connected to form a mechanism that allows the forearm assembly to move and rotate, achieving two degrees of freedom with only one servo, thereby reducing costs and simplifying assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If two servos are used for shoulder and elbow joints to achieve two degrees of freedom, then the robot arm can achieve the required motion freedom, but the cost increases
Solution Approach 1:
A single servo is designed to perform multiple functions by controlling both the shoulder and elbow joints through a linkage mechanism. The servo's rotation is transmitted through a first linkage member to the forearm assembly, and simultaneously through a second linkage member to the upper arm, enabling one actuator to provide two degrees of freedom
Solution Approach 2:
Linkage members are introduced as intermediary mechanical elements between the single servo and the two joints (shoulder and elbow). These linkage members transmit and transform the servo's rotational motion into coordinated movements of both joints, allowing one servo to control two degrees of freedom through mechanical mediation
2Adaptability or versatility
If two servos are used for shoulder and elbow joints, then two degrees of freedom are achieved, but the assembly complexity increases
Solution Approach 1:
The patent merges the functions of two separate servo systems into a single integrated mechanism. By combining the control of shoulder and elbow joints into one servo-unit-linkage system, the number of independent components to be assembled is reduced, simplifying the overall assembly process while maintaining two degrees of freedom
3Adaptability or versatility
If two servos are used for shoulder and elbow joints, then two degrees of freedom are achieved, but the cost effectiveness decreases
Solution Approach 1:
The patent extracts one servo from the traditional two-servo configuration, removing the redundant component while retaining the essential functionality. By taking out the unnecessary second servo and compensating with a linkage mechanism, the system achieves the same two degrees of freedom with fewer components, improving cost effectiveness
Data Source
AI summary
A linkage mechanism includes a chest assembly of a robot; a servo arranged within the chest assembly and comprising an output shaft; a first linkage member including a first end and a second opposite end, the first end being connected to the output shaft; a forearm assembly rotatably connected to the second end of the first linkage member; and a second linkage member. Opposite ends of the second linkage member are rotatably connected to the chest assembly and the forearm assembly.