Three-Body Rotary Actuator With Independent Stator Compliance
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Solution Overview
Problem
Traditional actuation systems in robotics, automation, and prosthetics face challenges such as complexity, wear, bulkiness, and a lack of adaptability, which limit their ability to provide precise, scalable, and low-maintenance solutions.
Innovation Solution
The introduction of a novel actuation system that incorporates a third movable frame, allowing the stator to rotate independently, which enables precise control and compliance by harnessing electromagnetic forces without physical contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single prime mover is used to power multiple actuation points, then system complexity and cost are reduced, but precise and independent control of each actuation point becomes difficult
Solution Approach 1:
The actuator is segmented into three independent reference frames (stationary frame, rotor, and stator), each capable of independent motion. This segmentation allows the single prime mover to independently control multiple actuation points by selectively engaging different frame interactions, resolving the contradiction between reduced complexity and maintained control precision.
2Volume of moving object
If electromagnetic actuators are stacked adjacently on a single drive shaft, then space efficiency and compactness are improved, but heat dissipation becomes challenging
Solution Approach 1:
Multiple electromagnetic actuators are stacked adjacently on a single drive shaft in a nested configuration, with each actuator containing its cooling channels. This nesting approach achieves space efficiency while maintaining individual cooling paths for each actuator, preventing heat accumulation in the compact arrangement.
3Adaptability or versatility
If the rotor and stator are allowed to rotate independently in a three-body actuator, then compliance and adaptability are enhanced, but control system complexity increases
Solution Approach 1:
The actuator implements dynamic compliance by allowing independent rotation of the rotor and stator relative to each other and the stationary frame. The prime mover selectively engages different frame interactions based on operational requirements, enabling the system to adapt between rigid and compliant modes without complex control algorithms.
4Ease of operation
If traditional friction-based torque transmission is used, then mechanical control is achieved, but wear and maintenance requirements increase
Solution Approach 1:
The invention replaces friction-based mechanical torque transmission with electromagnetic torque transmission between the prime mover, rotor, and stator. This substitution eliminates wear from frictional contact while maintaining precise mechanical control through electromagnetic field interactions, significantly extending system lifespan.
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
This approach reduces wear, enhances precision and control, and provides a modular, space-efficient design, addressing the limitations of traditional systems by mimicking the dynamic behavior of biological muscles.
Implementation Method 1
The rotor and the stator interact through electromagnetic fields to generate torque
Implementation Method 2
controllable forces generated through magnetic fields and/or eddy currents
Data Source
AI summary
The present disclosure introduces a compact, stackable electromechanical actuator optimized for precise torque control in robotic and automation systems. This actuator features three distinct bodies: a drive shaft with an attached rotor, an independently rotating stator, and a supporting frame. The stator connects to a control medium, such as a cable or belt, allowing free rotation within the frame. Driven by an external power source, the rotor operates alongside the stator, facilitating efficient torque transmission. The modular design enables integration of multiple rotor-stator pairs along a shared drive shaft, offering customizable configurations for varying torque and power requirements. By utilizing magnetic fields for torque transmission without physical contact, the actuator reduces wear and maintenance compared to traditional systems. This ensures precise torque control, quick response times, and smooth operation, making it suitable for applications demanding reliable force transmission and space-efficient integration into robotic and compact mechanical environments.