Switchable Link Power Transmission for Coupled Joint Velocity Control
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Solution Overview
Problem
Conventional link mechanisms used in industrial robots require high-output motors to handle heavy loads, leading to increased size, weight, and energy consumption, as well as higher manufacturing and operational costs, and there is a need for suitable control over link velocity during power transmission.
Innovation Solution
A link mechanism with a power transmission mechanism that can switch between connected and disconnected states, allowing power to be transmitted between joints, ensuring proportional velocities of the first and second joints, thereby reducing the size and weight of actuators and energy consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a motor with high output is used to handle heavy loads, then the load handling capability is improved, but the size and weight of the actuator are increased
Solution Approach 1:
The patent applies dynamics by making the power transmission connection between joints switchable rather than fixed. The power transmission mechanism can dynamically connect or disconnect between the first and second joints based on operational requirements, allowing the system to adapt its power distribution and reduce actuator size when full power transmission is not needed.
2Force
If a motor with high output is used to handle heavy loads, then the load handling capability is improved, but the energy consumption is increased
Solution Approach 1:
The power transmission mechanism dynamically adjusts power flow between joints based on actual load requirements. When the mechanism is in the disconnected state, energy consumption is reduced as power is not continuously transmitted through all joints. This dynamic switching allows the system to consume energy only when and where needed.
3Use of energy by moving object
If power is transmitted between joints, then the energy consumption of the actuator is reduced, but the control complexity over link velocity is increased
Solution Approach 1:
The control device implements feedback control by detecting the connection state of the power transmission mechanism and adjusting actuator control accordingly. When the power transmission mechanism is connected, the control device modifies velocity commands to account for the coupled motion between joints, ensuring accurate positioning while managing the increased control complexity through systematic feedback.
4Speed
If the power transmission mechanism is connected, then the velocity control between joints is improved, but the device complexity is increased
Solution Approach 1:
The power transmission mechanism uses a switchable connection design that dynamically transitions between connected and disconnected states. This dynamic approach allows the system to achieve velocity control benefits when needed while avoiding the complexity of permanently coupled joints, as the connection can be disengaged when velocity control through power transmission is not required.
Data Source
AI summary
A link mechanism includes a first link connected with a first joint, a first motor driving the first link to rotate, a second link connected with a second joint, a second motor driving the second link to rotate, and a power transmission mechanism. The power transmission mechanism is configured as capable of switching between a connected state with connection with which power of the first motor and the second motor can be transmitted between the first joint and the second joint and a disconnected state in which the connection is removed. In the case where the power transmission mechanism is in the connected state, the first joint and the second joint rotate so that an angular velocity of the first joint and an angular velocity of the second joint are proportional to each other.