Snake Robot Actuator Module with Internal Wire Routing

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Solution Overview

Problem

Conventional snake robots face challenges with increased weight and volume due to external connection members, which restrict movement and expose wires to damage, leading to disconnection and twisting issues.

Innovation Solution

A two-far end supported actuator module using an inner wire, where the connection brackets are integrated into the module housing, guiding the wire internally and eliminating the need for external protrusions, with detachable covers and connection brackets that allow for rotation and rolling movements without exposing the wire.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of manufacture

If external connection members are used to connect actuator modules, then the robot can be assembled, but the weight and volume of the robot increase

Engineering Contradiction:

Improveassembly capabilityVSAvoidrobot weight

Core Design Contradiction:

Ease of manufactureVSWeight of moving object

Solution Approach 1:

The connection bracket is integrated into the actuator module housing, merging the connection function with the existing structure. This eliminates the need for separate external connection members, thereby reducing the overall weight and volume of the robot while maintaining assembly capability.

Inventive Principle:

Principle #5Merging (Combining)

2Ease of manufacture

If external connection members protrude from the actuator module, then the modules can be connected, but the robot's movements are restricted

Engineering Contradiction:

Improvemodule connectionVSAvoidrobot movement freedom

Core Design Contradiction:

Ease of manufactureVSEase of operation

Solution Approach 1:

The connection bracket is nested within the actuator module housing rather than protruding externally. This internal integration allows the connection function to be achieved without external protrusions that would interfere with the robot's movement freedom.

Inventive Principle:

Principle #7Nested doll (Nesting)

3Ease of manufacture

If wires are exposed to the outside of the actuator module, then connections can be made, but the wires are susceptible to damage, friction, and twisting

Engineering Contradiction:

Improvewire connectionVSAvoidwire stability

Core Design Contradiction:

Ease of manufactureVSReliability

Solution Approach 1:

The wire is nested inside the actuator module housing and connected through internal pathways. This internal routing protects the wire from external damage, friction, and twisting, thereby improving reliability while maintaining connection functionality.

Inventive Principle:

Principle #7Nested doll (Nesting)

Data Source

PatentUS9387585B2Two-far end supported actuator module for snake robot using inner wire

Publication Date: 2016.07.12 KOREA ATOMIC ENERGY RES INST

AI summary

A two-far end supported actuator module for a snake robot using an inner wire includes: a module housing having a driving means and a reducer mounted therein, and having a plurality of accommodation portions on an outer surface thereof; an upper cover and a lower cover detachably installed at an upper part and a lower part of the module housing, respectively, wherein the upper cover has a rotation shaft passing hole for passing a rotation shaft therethrough, and the lower cover has a wire passing hole for passing a wire therethrough; a first connection bracket having one side coupled to one accommodation portion of the module housing, and another side coupled to a lower cover of another driving module, and configured to guide the wire thereinto; and a second connection bracket coupled to another accommodation portion of the module housing on the opposite side of the first connection bracket, and another side to which a rotation shaft is inserted to be supported.