Tensegrity Roll Joint for Flexible Robot Actuation
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Solution Overview
Problem
Existing robot joints lack flexibility and are prone to abrasion due to friction, limiting their operational range and longevity, especially in applications where contact with humans is involved.
Innovation Solution
A roll joint design incorporating a tensegrity structure with connection wire members that maintain non-contact between bodies, allowing for flexibility and adjustable movement range while preventing friction-induced abrasion through a system of interconnected frames and wires.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid bodies are rigidly fixed to each other in existing robot joints, then structural strength is improved, but flexibility and durability deteriorate due to complete impact transmission and friction-induced abrasion
Solution Approach 1:
The joint is divided into multiple rigid body segments (first body, second body, connection body) that are not rigidly fixed but connected through wire members, allowing each segment to maintain structural strength while reducing overall rigidity to prevent impact transmission and abrasion
Solution Approach 2:
Traditional mechanical connections (rigid fixed joints, bearings, gears) are replaced with a wire member-based tensegrity system that uses tension forces instead of mechanical contact, eliminating friction and abrasion while maintaining structural integrity
2Stability of the object's composition
If rigid mechanical joints are used, then structural stability is improved, but flexibility in rotation axis direction cannot be achieved
Solution Approach 1:
The joint transitions from a static rigid structure to a dynamic tensegrity system where wire member tensions can be actively adjusted, enabling the structure to adapt its flexibility and movement range in real-time while maintaining structural stability
Solution Approach 2:
The flexibility and movement range of the joint are controlled by changing the tension parameters of the wire members, allowing dynamic adjustment of rotational flexibility in different directions without compromising structural stability
3Strength
If rigid bodies are connected through mechanical joints, then connection strength is improved, but friction-induced abrasion occurs reducing longevity
Solution Approach 1:
Mechanical contact-based connections (bearings, gears, sliding surfaces) are replaced with a wire-based tension system that maintains connection strength through tensile forces while completely eliminating friction and abrasion, thereby extending the joint's operational life
Solution Approach 2:
Wire members serve as intermediary elements between rigid bodies, transmitting forces through tension without direct contact between the rigid bodies themselves, thus preventing abrasion while maintaining strong connections
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 roll joint achieves improved flexibility and reduced abrasion, distributing external forces and relaxing design constraints, resulting in a lightweight and durable joint capable of adjusting its movable range.
Implementation Method 1
a connection wire member for connecting the first body, the second body, and the connection body to each other so as to form a tensegrity structure
Implementation Method 2
a repulsive force may act between the rigid bodies (links) to cause abrasion due to friction
Data Source
AI summary
A roll joint is provided. The roll joint may comprise: a first body; a second body disposed opposite to and spaced apart from the first body; a connection body which is disposed between the first body and the second body and is not in contact with the first body and the second body; and a connection wire member which connects the first body, the second body, and the connection body to one another so as to make a tensegrity structure.