Variable Pliability Actuator Resolving Safety-Speed Trade-off
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Solution Overview
Problem
Current actuators in robots have a fixed pliability, which compromises between safety and production efficiency, leading to slower working speeds and increased production costs, and are complex to manufacture with many connections, posing safety risks, especially in applications where human interaction is frequent.
Innovation Solution
A variable pliability actuator with two rotary electric motors, an elastic transmission system, and a control unit that adjusts pliability through sensors and a holding structure, allowing for continuous variation of mechanical impedance to match operational needs, reducing the number of electric connections and simplifying manufacturing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed pliability actuator is used, then safety is improved by absorbing impact energy, but production speed decreases and production costs increase
Solution Approach 1:
The actuator employs a variable pliability mechanism that dynamically adjusts the mechanical impedance between two components based on operational requirements. The pliability parameter can be modified in real-time, allowing the system to transition between rigid and compliant states, thereby resolving the contradiction between safety (requiring high pliability) and production speed (requiring low pliability for rigidity)
Solution Approach 2:
The invention changes the physical parameter of pliability from a fixed value to a variable parameter. By controlling the pliability parameter through the variable pliability mechanism, the actuator can optimize performance for different tasks: maintaining low pliability during precision operations for speed and accuracy, and increasing pliability during potential impact scenarios for safety
2Ease of manufacture
If a fixed pliability actuator is used, then manufacturing is simplified, but adaptability to different operational conditions deteriorates
Solution Approach 1:
The variable pliability mechanism introduces dynamic adjustability to the actuator, enabling it to adapt to different operational conditions. The mechanism allows continuous or discrete adjustment of the pliability parameter, providing versatility for various tasks while maintaining a relatively simple structural design that does not significantly complicate manufacturing
3Reliability
If high pliability is selected for safety, then impact energy absorption is improved, but working speed decreases
Solution Approach 1:
The actuator dynamically adjusts pliability based on the operational phase: during high-speed working operations, the pliability is reduced to minimize energy absorption and maximize working speed; during potential impact or interaction scenarios, the pliability is increased to absorb impact energy and ensure safety, thus resolving the speed-safety contradiction
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
Enables optimal working quality and safety with rapid pliability adjustment, maximizing robot performance, reducing production times and costs, and simplifying connections, while ensuring high accuracy and safety in interactions with humans.
Implementation Method 1
an elastic transmission system adapted to enable motion transfer from the motors to the output shaft and to vary the pliability of the output shaft
Data Source
AI summary
A variable pliability actuator is provided to move a movable component including two electric rotary motors, at least one output shaft connected to be set in rotation by the motors around a rotation axis, an elastic transmission system to enable motion transfer from the motors to the output shaft and to vary the pliability the output shaft, a control unit to adjust at least the pliability of the output shaft through the elastic transmission system, and a holding structure to hold at least the motors, the elastic transmission system, the output shaft and the control unit. The holding structure has a driving output placed at the outer surface controlled by the output shaft and connected to set the movable component in rotation about the rotation axis, at least one stiff coupling element to enable a stiff connection of the holding structure, and a support output opposite the driving output, substantially coaxial with the rotation axis and partly housing and stabilizing the rotation of the movable component.