Variable Stiffness Robotic Joint Dual-Drive Mechanism
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Solution Overview
Problem
Existing variable stiffness robotic joint systems are inefficient in utilizing two driving motors, as one motor is solely responsible for joint rotation and the other for stiffness control, leading to suboptimal motor usage and joint motion determination.
Innovation Solution
A variable stiffness robotic joint system where two driving modules simultaneously control joint motion and stiffness by converting rotational movements into linear motions to adjust elastic forces, utilizing a stiffness-providing member and rotating modules to optimize motor efficiency and joint flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If two motors are used with one motor solely for joint rotation and the other for stiffness control, then the joint can achieve variable stiffness, but the motor utilization efficiency deteriorates
Solution Approach 1:
Both driving modules are designed to perform dual functions: they can simultaneously control joint rotation and adjust stiffness. Each driving module includes a motor, transmission mechanism, and brake assembly that can independently or cooperatively contribute to motion control and stiffness regulation, eliminating the need for dedicated single-function motors
Solution Approach 2:
The patent merges the rotation control and stiffness control functions into a unified system where two driving modules work cooperatively. The transmission mechanisms of both modules are integrated to the same joint, and their torque outputs are combined to achieve simultaneous motion and stiffness control, maximizing the utilization of both motors
2Device complexity
If one motor determines joint motion alone while the other adjusts stiffness, then the control structure is simplified, but the joint motion control efficiency deteriorates
Solution Approach 1:
Both driving modules are equipped with identical components (motors, transmission mechanisms, and brake assemblies) that enable each module to independently contribute to both joint rotation and stiffness control, allowing flexible allocation of control tasks to optimize efficiency
Solution Approach 2:
The system dynamically allocates the functions of rotation and stiffness control between the two driving modules based on operational requirements. The brake assemblies can be selectively applied to either module, and the transmission mechanisms can engage different gear ratios, allowing the system to adapt its control strategy for optimal performance in different scenarios
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 configuration allows for efficient utilization of driving motors, enabling high stiffness or flexibility in joint motion based on torque levels, thereby enhancing the performance and efficiency of robotic joints.
Implementation Method 1
a stiffness-providing member configured to provide stiffness by elastically supporting a rotational movement of the first rotating module on the second direction
Implementation Method 2
a second rotating module configured to change rotations of the first driving module and the second driving module into a linear motion in the first direction when the first driving module and the second driving module rotate in directions in which the joint is rotated in different directions, thereby adjusting an elastic force of the stiffness-providing member
Data Source
AI summary
The present invention relates to a variable rigidity robot joint system including a first driving module and a second driving module generating torque which is rotated on a first direction, a first rotating module changing rotations of the first driving module and the second driving module into rotations on a second direction intersecting the first direction when the first and second driving modules rotate in directions in which a joint is rotated in a same direction, thereby rotating the joint, a rigidity-providing member providing rigidity by elastically supporting a rotational movement of the first rotating module on the second direction, and a second rotating module changing rotations of the first driving module and the second driving module into a linear motion in the first direction when the first and second driving modules rotate in directions in which the joint is rotated in different directions.