Two-Axis Joint Linkage Mechanism Avoiding Singularities
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Solution Overview
Problem
Existing two-axis joints face limitations in range of motion, complexity, and susceptibility to kinematic singularities, offering opportunities for improvement in these areas.
Innovation Solution
A joint apparatus comprising a first and second support with a pivot allowing tilting in two directions while constraining translation, and linkages driven by actuators to enhance tilting capabilities, along with various structural modifications such as ball and socket joints, universal joints, and magnetic retention to accommodate greater angular ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional universal joint is used for two-axis tilting, then the structure is simple, but the range of motion is limited and kinematic singularities occur
Solution Approach 1:
The joint is divided into multiple independent linkage mechanisms (first linkage for first axis tilting, second linkage for second axis tilting) that work together. Each linkage can be independently controlled by its own actuator, allowing the system to achieve a broader range of motion while avoiding the kinematic singularities that plague traditional universal joints.
Solution Approach 2:
The patent transitions from a single-axis universal joint to a two-axis tilting mechanism by adding a second independent linkage and actuator. This dimensional expansion allows the second support to tilt in both first and second directions simultaneously, dramatically increasing adaptability while maintaining structural manageability through modular design.
2Adaptability or versatility
If linkages are added to enable two-axis tilting, then the range of motion improves, but the device complexity increases
Solution Approach 1:
The first and second linkages share common components such as the pivot point and support structures. The first linkage enables tilting in the first direction while the second linkage enables tilting in the second direction, with both linkages utilizing the same physical space and mounting points, thereby reducing overall system complexity despite the added functionality.
Solution Approach 2:
The linkage system is designed so that the actuators directly drive the linkages which in turn directly tilt the second support. This direct-drive architecture eliminates the need for intermediate transmission mechanisms, reducing complexity while maintaining full tilting capability in both directions.
3Adaptability or versatility
If the second support is allowed to tilt freely, then the range of motion increases, but translation between supports becomes uncontrolled
Solution Approach 1:
The pivot is designed with selective freedom: it allows rotational motion (tilting) in both first and second directions while simultaneously constraining translational motion in all directions. This localized differentiation of motion permissions at the pivot point enables the second support to tilt freely without translating relative to the first support, maintaining positional stability while achieving tilting freedom.
Data Source
AI summary
A joint apparatus with two degrees of freedom and a large range of singularity-free motion is provided including a first support, a second support, a pivot coupled between the first and second supports for allowing the second support to tilt in first and second directions relative to the first support, a first linkage coupled between the first and second supports for tilting the second support in the first direction relative to the first support, and a second linkage coupled between the first and second supports for tilting the second support in the second direction relative to the first support.