Description:PREAMBLE TO THE DESCRIPTION
The following specification particularly describes the invention and the manner in which it is to be performed. 
TECHNICAL FIELD
[0001] Embodiments of the present disclosure generally relate to modular robotic systems for inspection and maintenance, and more particularly relate to a robotic joint apparatus with multiple degrees of freedom and method thereof.
BACKGROUND
[0002] Generally, in industrial sectors such as gas, water, sewage, and HVAC systems, pipelines are essential infrastructural components that require regular inspection and maintenance. These pipelines frequently extend underground or pass through structurally confined environments, rendering external access challenging and often cost-prohibitive. Conventionally, pipeline inspection relies on manual methods or basic robotic systems that struggle to navigate complex internal layouts. These methods face significant limitations in traversing multiple bends, T-junctions, and vertical segments, often failing to move beyond a few directional changes. Consequently, the effectiveness of inspection and maintenance operations is greatly reduced in such scenarios.
[0003] Furthermore, in pipeline networks consisting only of straight segments, the need for steering mechanisms is minimal. However, most real-world pipelines incorporate multiple bends and directional changes to accommodate structural and functional requirements. In these cases, a robotic system without a steering joint lacks the necessary mobility to navigate such geometries. Subsequently, the robot’s ability to carry out inspection or maintenance tasks is compromised, necessitating more advanced steering mechanisms capable of performing in both horizontal and vertical planes.
[0004] Conventionally, center articulation—widely used in ground-based machinery like Load-Haul-Dump (LHD) vehicles—has been applied to enhance maneuverability in confined spaces. This method involves two segments connected by an active joint, allowing sharp directional changes through body articulation. However, while center articulation has proven effective in ground-based systems, its application in in-pipe robotics remains limited. Moreover, in multi-axis wheeled robotic systems, steering without articulation results in each wheel following a separate path when turning, which demands more space than is typically available inside pipeline environments. As a result, maneuverability becomes restricted, particularly in narrow or tightly curved sections.
[0005] Several prior works have attempted to overcome these limitations using various joint configurations. For instance, some approaches involve single-module robots; however, such configurations exhibit poor repeatability and encounter motion singularities when navigating T-junctions. To mitigate these issues, additional modules and passive joints, such as compression springs, have been introduced to facilitate smoother navigation. Nevertheless, these passive elements often lack the controllability required for precision movements in complex pipeline conditions.
[0006] Additionally, some researchers have developed active steering joints designed specifically for navigating bends and branches. However, many of these designs are limited to a single degree of freedom (1-DoF), restricting the range of postures the robot can adopt while negotiating curves. Furthermore, while joints have been proposed for pitch and roll motion, these designs typically utilize separate actuators for each motion axis, increasing mechanical complexity and placing higher loads on individual actuators. This, in turn, reduces system efficiency and reliability during operation.
[0007] Moreover, certain designs incorporate ball screw and wire rope mechanisms to achieve limited pitch and roll functionality. However, these configurations often provide a restricted range of motion, particularly in pitch, which may not suffice for the highly variable orientations encountered in real-world pipeline networks. An alternative solution presented in some patents employs a rotating disc-based obstacle avoidance system, allowing circumferential motion around internal obstructions.
[0008] Consequently, there is a need in the art for a robotic joint apparatus with multiple degrees of freedom and method thereof, to address at least the aforementioned issues in the prior arts.
SUMMARY
[0009] This summary is provided to introduce a selection of concepts, in a simple manner, which is further described in the detailed description of the disclosure. This summary is neither intended to identify key or essential inventive concepts of the subject matter nor to determine the scope of the disclosure.
[0010] An embodiment of the present disclosure provides a robotic joint apparatus with multiple degrees of freedom . Further, the robotic joint apparatus may be configured to induce roll motion about a first axis by driving the first motor and the second motor in the same rotational direction, further causing the second bevel gear to rotate about its own axis. Furthermore, the robotic joint apparatus may be configured to induce yaw motion about a second axis orthogonal to the first axis by driving the first motor and the second motor in opposite rotational directions, further causing the support core and the attached second bevel gear to rotate about the motor axis. Furthermore, the robotic joint apparatus may be configured to generate pitch motion by sequentially combining the roll motion and yaw motion through real-time coordinated control of the first motor and second motor. Furthermore, the robotic joint apparatus may be configured to enable independent and combined control of roll, yaw, and pitch motions through coordinated control of the first motor and second motor.
[0011] Another embodiment of the present disclosure provides a method by robotic joint apparatus with multiple degrees of freedom. Further, the method may include inducing, by the robotic joint apparatus, roll motion about a first axis by driving the first motor and the second motor in the same rotational direction, further causing the second bevel gear to rotate about its own axis. Furthermore, the method may include inducing, by the robotic joint apparatus, yaw motion about a second axis orthogonal to the first axis by driving the first motor and the second motor in opposite rotational directions, further causing the support core and the attached second bevel gear to rotate about the motor axis. Furthermore, Furthermore, the method may include generating, by the robotic joint apparatus, pitch motion by sequentially combining the roll motion and yaw motion real-time control of roll, yaw, and pitch motions through coordinated control of the first motor and second motor.
[0012] To further clarify the advantages and features of the present disclosure, a more particular description of the disclosure will follow by reference to specific embodiments thereof, which are illustrated in the appended figures. It is to be appreciated that these figures depict only typical embodiments of the disclosure and are therefore not to be considered limiting in scope. The disclosure will be described and explained with additional specificity and detail with the appended figures.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[0013] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, serve to explain the disclosed principles. In the figures, the left-most digit(s) of a reference number identify the figure in which the reference number first appears. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and/or methods in accordance with embodiments of the present subject matter are now described, by way of example only, and with reference to the accompanying figures, in which:
[0014] FIG. 1 illustrates a block diagram of a robotic joint apparatus with multiple degrees of freedom, in accordance with an embodiment of the present disclosure;
[0015] FIG. 2 illustrates a design of the robotic joint apparatus , in accordance with an embodiment of the present disclosure;
[0016] FIG. 3 illustrates a schematic diagram depicting a modular multi-modal robot developed in-house with the robotic joint apparatus , in accordance with an embodiment of the present disclosure;
[0017] FIG. 4 illustrates a schematic diagram depicting a roll motion of the robotic joint apparatus, in accordance with an embodiment of the present disclosure;
[0018] FIG. 5 illustrates a schematic diagram depicting a yaw motion of the robotic joint apparatus, in accordance with an embodiment of the present disclosure;
[0019] FIG. 6 illustrates a schematic diagram depicting an exploded view of the robotic joint apparatus, in accordance with an embodiment of the present disclosure;
[0020] FIG. 7 illustrates a schematic diagram depicting an exploded view of the joint connector and a motor housing, in accordance with an embodiment of the present disclosure;
[0021] FIG. 8 illustrates a schematic diagram of the joint connector with the motor housing, in accordance with an embodiment of the present disclosure;
[0022] FIG. 9 illustrates a schematic diagram of the support core, in accordance with an embodiment of the present disclosure;
[0023] FIG. 10 illustrates a schematic diagram of the joint connector with a connector shaft, in accordance with an embodiment of the present disclosure; and
[0024] FIG. 11 illustrates a flowchart depicting a method by the robotic joint apparatus with multiple degrees of freedom, in accordance with an embodiment of the present disclosure.
[0025] Further, those skilled in the art will appreciate that elements in the figures are illustrated for simplicity and may not have necessarily been drawn to scale. Furthermore, in terms of the construction of the device, one or more components of the device may have been represented in the figures by conventional symbols, and the figures may show only those specific details that are pertinent to understanding the embodiments of the present disclosure so as not to obscure the figures with details that will be readily apparent to those skilled in the art having the benefit of the description herein.
DETAILED DESCRIPTION OF THE PRESENT DISCLOSURE
[0026] For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiment illustrated in the figures and specific language will be used to describe them. It will nevertheless be understood that no limitation of the scope of the disclosure is thereby intended. Such alterations and further modifications in the illustrated system, and such further applications of the principles of the disclosure as would normally occur to those skilled in the art are to be construed as being within the scope of the present disclosure. It will be understood by those skilled in the art that the foregoing general description and the following detailed description are exemplary and explanatory of the disclosure and are not intended to be restrictive thereof.
[0027] In the present document, the word “exemplary” is used herein to mean “serving as an example, instance, or illustration”. Any embodiment or implementation of the present subject matter described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.
[0028] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however that it is not intended to limit the disclosure to the forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternative falling within the scope of the disclosure.
[0029] The terms “comprises”, “comprising”, “includes”, “including” or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device or method that includes a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus proceeded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the system or method.
[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this disclosure belongs. The system, methods, and examples provided herein are only illustrative and not intended to be limiting.
[0031] In the following specification, reference will be made to a number of terms, which shall be defined to have the following meanings. The singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise.
[0032] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the invention. In the following detailed description of the embodiments of the disclosure, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.
[0033] In the present disclosure, terms such as “upper”, “lower”, “left”, “right”, “front”, “rear”, “vertical”, “horizontal”, “side”, “bottom”, and the like, may refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present invention, and do not denote any one of the components or elements of the present disclosure, and are not to be construed as limiting the present invention.
[0034] In the present disclosure, terms such as “fixedly attached”, “movably coupled”, “connected”, “coupled”, and the like are to be construed broadly and refer to either a fixed connection, or a movable, or an integral or removable connection; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present disclosure can be determined according to circumstances by a person skilled in the relevant art or the art and is not to be construed as limiting the present disclosure.
[0035] Embodiments of the present disclosure provides a robotic joint apparatus with multiple degrees of freedom and method thereof. Further, the robotic joint apparatus may be configured to induce roll motion about a first axis by driving the first motor and the second motor in the same rotational direction, further causing the second bevel gear to rotate about its own axis. Furthermore, the robotic joint apparatus may be configured to induce yaw motion about a second axis orthogonal to the first axis by driving the first motor and the second motor in opposite rotational directions, further causing the support core and the attached second bevel gear to rotate about the motor axis. Furthermore, the robotic joint apparatus may be configured to generate pitch motion by sequentially combining the roll motion and yaw motion through real-time coordinated control of the first motor and second motor. Furthermore, the robotic joint apparatus may be configured to enable independent and combined control of roll, yaw, and pitch motions through coordinated control of the first motor and second motor.
[0036] Referring now to the drawings, and more particularly to FIG. 1 through FIG. 11 where similar reference characters denote corresponding features consistently throughout the figures, there are shown preferred embodiments, and these embodiments are described in the context of the following exemplary system and/or method.
[0037] FIG. 1 illustrates a block diagram of a robotic joint apparatus 102 with multiple degrees of freedom, in accordance with an embodiment of the present disclosure. In an embodiment, the robotic joint apparatus 102 may include a first motor 104-1 operatively coupled to a first bevel gear 106-1, and a second motor 104-2 operatively coupled to a third bevel gear 106-3. Further, the first bevel gear 106-1 and the third bevel gear 106-3 may be meshed with a central support core 110, which houses and maintains the alignment of a second bevel gear 106-2. Furthermore, the support core 110 may be structurally configured to facilitate differential motion transfer between the motors and the second bevel gear 106-2. Furthermore, the second bevel gear 106-2 may be operatively linked to first joint connector 108-1 and second joint connector 108-2. Furthermore, the first joint connector 108-1, the second joint connector 108-2 may be mounted on the opposite sides of the support core 110.
[0038] In an embodiment, the robotic joint apparatus 102 may be configured to induce roll motion about a first axis by driving the first motor 104-1 and the second motor 104-2 in the same rotational direction, further causing the second bevel gear 106-2 to rotate about its own axis. Furthermore, the second bevel gear 106-2 may be referred to as central bevel gear 106-2. Furthermore, the robotic joint apparatus 102 may be configured to induce yaw motion about a second axis orthogonal to the first axis by driving the first motor 104-1 and the second motor 104-2 in opposite rotational directions, further causing the support core 110 and the attached second bevel gear 106-2 to rotate about the motor axis. Furthermore, the robotic joint apparatus 102 may be configured to generate pitch motion by sequentially combining the roll motion and yaw motion through real-time coordinated control of the first motor 104-1 and second motor 104-2. Furthermore, the robotic joint apparatus 102 may be configured to enable independent and combined control of roll, yaw, and pitch motions through coordinated control of the first motor 104-1 and second motor 104-2.
[0039] FIG. 2 illustrates a design of the robotic joint apparatus 102, in accordance with an embodiment of the present disclosure . In an embodiment, the design of the robotic joint apparatus 102 may include a first motor 104-1 operatively coupled to a first bevel gear 106-1, and a second motor 104-2 operatively coupled to a third bevel gear 106-3. Further, the first bevel gear 106-1 and the third bevel gear 106-3 may be meshed with a central support core 110, which houses and maintains the alignment of a second bevel gear 106-2. Furthermore, the support core 110 may be structurally configured to facilitate differential motion transfer between the motors and the third bevel gear 106-3. Furthermore, the second bevel gear 106-2 may be operatively linked to first joint connector 108-1 and second joint connector 108-2. Furthermore, the first joint connector 108-1, the second joint connector 108-2 may be mounted on the opposite sides of the support core 110.
[0040] In an embodiment, the robotic joint apparatus 102 may be configured to induce roll motion about a first axis by driving the first motor 104-1 and the second motor 104-2 in the same rotational direction, further causing the second bevel gear 106-2 to rotate about its own axis. Furthermore, the coordinated control of the first motor 104-1, and the second motor 104-2 may be configured to withstand a predefined torque to enable stable traversal of inclined and vertical sections. Furthermore, the first motor 104-1, and the second motor 104-2 may include integrated magnetic encoders for accurate position feedback of the modular multi modal robot.
[0041] In another embodiment, the robotic joint apparatus 102 may be configured to induce yaw motion about a second axis orthogonal to the first axis by driving the first motor 104-1 and the second motor 104-2 in opposite rotational directions, further causing the support core 110 and the attached second bevel gear 106-2 to rotate about the motor axis. Further, the support core 110 may include bearings may be configured to maintain alignment and reduce backlash between the second bevel gear 106-1, the first bevel gear 106-2, and the third bevel gear 106-3 during operation.
[0042] In another embodiment, the robotic joint apparatus 102 may be configured to generate pitch motion by sequentially combining the roll motion and yaw motion through real-time coordinated control of the first motor 104-1 and second motor 104-2. Further, the coordinated control of the first motor 104-1 and second motor 104-2 may enable the robotic joint apparatus 102 to traverse inclined, vertical, and curved pathways within pipelines by dynamically adjusting roll, yaw, and pitch motions. Furthermore, the robotic joint apparatus 102 may be configured to enable independent and combined control of roll, yaw, and pitch motions through coordinated control of the first motor 104-1 and second motor 104-2.
[0043] In another embodiment, the robotic joint apparatus 102 with multiple degrees of freedom may utilize a differential bevel gear mechanism including a first bevel gear 106-1 and a third bevel gear 106-3 meshed with a second bevel gear 106-2. Further, the configuration may enable controlled articulation of the robotic joint apparatus 102 by varying the relative actuation of the first motor 104-1 and the second motor 104-2. Furthermore, the actuation mechanism may be configured such that driving the motors 104-1 and 104-2 may be in at least one of same and opposite rotational directions results in three distinct movement modes—roll, yaw, and pitch. Furthermore, the support core 110 may houses the second bevel gear 106-2 and includes bearings to maintain alignment and reduce backlash during motion transfer between the meshed first bevel gear 106-1, second bevel gear 106-2, and third bevel gear 106-3. Furthermore, the first joint connector 108-1, and the second joint connector 108-2 may be mounted on opposite sides of the support core 110, allowing the robotic joint apparatus 102 to link modular robotic units. Furthermore, through the coordinated control of the first motor 104-1, and the second motor 104-2—both of which may be configured to withstand predefined torque loads and include integrated magnetic encoders for accurate positional feedback—the apparatus enables dynamic roll, yaw, and pitch articulation, such articulation may facilitate traversal of inclined, vertical, and curved pathways. In another embodiment, a key application of the robotic joint apparatus 102 may be in modular snake robots designed for pipeline and ground traversal, where flexible and adaptive locomotion may be critical for navigation through confined or irregular environments.
[0044] FIG. 3 illustrates a schematic diagram depicting a modular multi-modal robot 300 developed in-house with the robotic joint apparatus 102, in accordance with an embodiment of the present disclosure. In an embodiment, the modular multi-modal robot 300 may include two interconnected modules coupled using the robotic joint apparatus 102 having multiple degrees of freedom (DoF). Further, the robotic joint apparatus 102 may include a first motor 104-1 and a second motor 104-2 mounted on the outer housing of a first module 302. Furthermore, the first motor 104-1, and the second motor104-2 may be operatively coupled to a first bevel gear 106-1 and a third bevel gear 106-3. Furthermore, the first bevel gear 106-1 and a third bevel gear 106-3 may be meshed with a second bevel gear 106-2 housed within a support core 110. Furthermore, the support core 110 may be structurally configured to facilitate the independent and coordinated rotation of the second bevel gear 106-2 and the outer housing, further enabling two distinct degrees of rotational freedom. Furthermore, the second bevel gear 106-2 may be operatively connected to the second module 304 through the first joint connector 108-1, and the second joint connector 108-2, further enabling the transfer of motion and torque to the next stage of the modular multi modal robot. Furthermore, the configuration may support adaptive articulation required for operation within constrained and dynamic environments, such as, but not limited to, pipelines, and irregular terrains, confined industrial conduits, complex architectural infrastructures, and subterranean inspection paths.
[0045] In another embodiment, the support core 110 may be integrated around the first bevel gear 106-1, the second bevel gear, and the third bevel gear 106-3 to maintain precise gear meshing and withstand operational loads. Further, the support core 110 may include bearings 604 configured to maintain the positional alignment of the second bevel gear 106-2 relative to the first bevel gear 106-1 and third bevel gear 106-3. Further, the configuration may reduce backlash, ensures consistent tooth engagement, and enhances torque transmission efficiency. Furthermore, the support core 110 may ensure reliable and responsive motion control across the full range of travel enabled by the two-degree-of-freedom joint by providing mechanical stability and controlling backlash.
[0046] FIG. 4 illustrates a schematic diagram depicting a roll motion 402 of the robotic joint apparatus 102, in accordance with an embodiment of the present disclosure. In an embodiment, the roll motion 402 may occur about the central axis of rotation 404 of the support structure, facilitated by the coordinated actuation of the bevel gear assembly integrated within the joint. Further, the bevel gear assembly may include first bevel gear 106-1, second bevel gear 106-2, and the third bevel gear 106-3. In an embodiment, when both the first motor 104-1 and the second motor 104-2 drive the associated first bevel gear 106-1, and the third bevel gear 106-3 in the same rotational direction, the torque generated may cause the second bevel gear 106-2 to rotate about its own axis, further producing a roll motion 402, as illustrated in FIG. 4. Further, the roll motion may enable relative reorientation of the robotic modules, such as first module 302, and the second module 304 around the axis of rotation 404 without translating the entire structure. Furthermore, the adaptive roll capability may allow the modular multi modal robot 300 to reconfigure in response to pipeline obstacles, rotating the body to maintain contact with the pipe walls and avoid entrapment, further enhancing mobility and operational robustness in cluttered or irregular pipeline environments.
[0047] In another embodiment, the robotic joint apparatus 102 may be configured to generate pitch motion by sequentially combining the roll motion 402 and yaw motion through coordinated control of the first motor 104-1 and the second motor 104-2. Initially, the roll motion 402 may reorients the modular multi modal robot 300 to the appropriate configuration relative to the pipe wall, followed by differential actuation of the first motor 104-1, and the second motor 104-2 to induce yaw, resulting in pitch displacement. Furthermore, the pitch capability may especially be vital for traversal through inclined and vertical pipeline sections, where control over module alignment may be critical to stability. Furthermore, the first motor 104-1, and the second motor 104-2 may be rated to withstand up to a predefined kg cm of torque (for an example 120 kg cm of torque), determined through analytical modeling and validated using SolidWorks® Motion Analysis, ensuring reliable performance under gravitational and mechanical loads in varied operating environments.
[0048] FIG. 5 illustrates a schematic diagram depicting a yaw motion 502 of the robotic joint apparatus 102, in accordance with an embodiment of the present disclosure. As shown in the FIG. 5, the yaw motion 502 may occurs about the central axis of rotation 504 when the two motors are actuated in opposing directions. In an embodiment, when the first motor 104-1 and the second motor 104-2 rotate in opposite directions, the counteracting torques cause the support core 110—along with the attached second bevel gear 106-2—to rotate about the motor axis, further generating yaw motion 502. Further, the motion may be critical for directional control in both pipeline and ground-based applications. In pipeline environments, the yaw motion 502 may enable the modular multi modal robot 300 to align with bends and curves for smooth traversal through complex geometries. Furthermore, the yaw motion 502 may function as a center articulation mechanism-akin on ground terrains to that used in Load-Haul-Dump (LHD) vehicles and articulated mobile robots, enabling the modular multi modal robot 300 to execute sharp turns and maintain stability across irregular surfaces.
[0049] In another embodiment, the robotic joint apparatus 102 may incorporates a bevel gear mechanism including the first bevel gear 106-1 and third bevel gear 106-3, both meshed with the second bevel gear 106-2. Further, the first bevel gear 106-1, the second bevel gear 106-2, and the third bevel gear 106-3 may be independently actuated by Waveshare RSBL120-24 servo motors referred to as first motor 104-1, and the second motor 104-2, which integrates a 360° magnetic encoder to provide precise position feedback for closed-loop control. Furthermore, the dual motor design allows torque to be distributed across both actuators without overloading an individual motor, supporting high-efficiency operation while maintaining a lightweight and compact joint structure. In another embodiment, communication between the central controller and the first motor 104-1, and the second motor 104-2 may be facilitated through an RS485 to UART interface.
[0050] In an embodiment, the differential-based center articulation may be enabled by the joint mechanism makes particularly effective for modular multi-modal robot 300. In pipeline scenarios, the robotic joint apparatus 102 may allow the modular multi-modal robot 300 to dynamically adapt to bends, elevation changes, and obstructions. Further, the modular multi-modal robot 300 may provide steering capabilities within constrained and uneven spaces on ground terrain where conventional steering approaches are limited. Furthermore, the integration roll for reorientation, yaw for directional steering, and pitch for elevation control results in a versatile and robust joint suitable for applications ranging from industrial inspection to autonomous exploration.
[0051] FIG. 6 illustrates a schematic diagram depicting an exploded view 600 of the robotic joint apparatus 102 with multiple degrees of freedom, in accordance with an embodiment of the present disclosure. FIG. 6 depicts the structural components along with the interconnections, and the assembly, which facilitate the coordinated motion control necessary for adaptive navigation.
[0052] Further, the robotic joint apparatus 102 includes the first motor 104-1 and the second motor 104-2, which are coaxially positioned and serve as the primary actuators for the robotic joint apparatus 102. The first motor 104-1 is mounted within a first motor mount 602-1, and the second motor 104-2 is mounted within a second motor mount 602-2. The motor mounts 602-1 and 602-2 are fastened to the joint connector 108-2 using bolts, providing a secure attachment and ensuring structural stability during operation. The motor mounts 602-1 and 602-2 also align the motors 104-1 and 104-2 properly, providing consistent torque delivery. The first motor 104-1 is operatively coupled to the first bevel gear 106-1 via a first output shaft 202-1, while the second motor 104-2 is operatively coupled to a third bevel gear 106-3 via a second output shaft 202-2. The output shafts 202-1 and 202-2 transmit rotational torque from the motors 104-1 and 104-2 to the respective bevel gears 106-1 and 106-3.
[0053] Further, the first bevel gear 106-1 and the third bevel gear 106-3, are symmetrically placed and meshed with a central bevel gear, referred to as the second bevel gear 106-2. The configuration of bevel gears allows for three distinct motions named as yaw motion, roll motion, and pitch motion using only two actuators, the motors 104-1 and 104-2. The shape of the bevel gears 106-1, 106-2, and 106-3, along with their perpendicular arrangement, is critical for motion transmission between perpendicular shafts, enabling the robotic joint apparatus 102 to achieve the aforementioned motions efficiently. The first bevel gear 106-1 and the third bevel gear 106-3 are press fitted over a first bearing 604-1 and a second bearing 604-3, respectively. The bearings 604-1 and 604-3 sit on the output shafts 202-1 and 202-2, which are connected to a support core 110. The assembly ensures smooth rotation of the bevel gears 106-1 and 106-3 while minimizing friction and wear.
[0054] Further, the support core 110 provides a stable base for the bevel gear arrangement, ensuring proper placement and maintaining alignment for consistent gear meshing during operation. The connector shaft 1006 sits inside a bearing, specifically a second bearing 604-2, which is press fitted inside the support core 110. The mounting configuration ensures that the second bevel gear 106-2 remains securely positioned while allowing rotational freedom. The bearings 604-1, 604-2, and 604-3, positioned on either side of the second bevel gear 106-2 and within the support core 110, ensure precise alignment, reduce backlash, and enhance torque transmission efficiency during operation.
[0055] Furthermore, the second bevel gear 106-2 is operatively linked to a second joint connector 108-2, which is mounted on second lateral side 112-2 of the support core 110. The second joint connector 108-2 is configured to connect the robotic joint apparatus 102 to a first module 302 of a modular multi-modal robot, facilitating the transfer of motion and torque to adjacent robotic modules. On the first lateral side 112-1 of the support core 110, a first joint connector 108-1 is mounted to connect to a second module 304.
[0056] FIG. 7 illustrates a schematic diagram depicting an exploded view of the joint connector and a motor housing, in accordance with an embodiment of the present disclosure. The subassembly 700 depicted in FIG. 7 includes the motor 104. The motor 104 serves as one of the primary actuators for driving the bevel gear mechanism of the robotic joint apparatus 102, providing the coordinated motions necessary for adaptive navigation. The motor 104 is securely mounted within a motor mount 602, which provides structural support and alignment for the motor 104 during operation. The motor mount 602 is designed to be fastened to a joint connector 108-2 using bolts ensuring a rigid connection which withstands the operational torques generated by the motor 104. The joint connectors 108-1 and 108-2 are critical component which links the robotic joint apparatus 102 to a modular robotic unit, facilitating the transfer of motion and torque to adjacent modules in a multi-modal robot configuration. The joint connector 108-2 also provides the housing for the motor 104-1 and the motor 104-2.
[0057] Further, a slot 702 in the motor mount 602 allows for the passage of a motor wiring 704, ensuring that the electrical connections to the motor 104 are properly routed and protected. The motor wiring 704 is essential for delivering power and control signals to the motor 104, enabling precise actuation and feedback control. The slot 702 ensures that the motor wiring 704 is organized and secured, minimizing the risk of damage or interference during the operation of the robotic joint apparatus 102 in dynamic and confined environments. The design consideration enhances the reliability and longevity of the system by preventing wiring-related failures.
[0058] FIG. 8 illustrates a schematic diagram of the joint connector with the motor housing 800, in accordance with an embodiment of the present disclosure. The joint connector 108-2 serves as a critical interface for linking the robotic joint apparatus 102 to a robotic module, facilitating the transfer of motion and torque within a modular multi-modal robot configuration. The joint connector 108-2 is also configured to house the motors 104. The joint connector 108-2 is designed with several key features to ensure secure attachment and proper alignment of components. The joint connector 108-2 includes a set of bolt holes 806-1 for fastening the joint connector 108-2 to a motor mount. The bolt holes 806-1 allow the joint connector 108-2 to be securely attached to the motor mount using bolts, ensuring a rigid connection that can withstand the operational torques generated by the motors 104-1 and 104-2. Additionally, the joint connector 108-2 features another set of bolt holes 804 for fastening the joint connector 108-2 to a robotic module 302. The bolt holes 804 enable the joint connector 108-2 to be firmly attached to the robotic module 302, ensuring stable integration within the modular robotic system.
[0059] Further, to facilitate the integration of the bevel gear mechanism, the joint connector 108-2 includes two slots specifically designed for bevel gears: a first slot 808-1 and a second slot 808-2. The first slot for bevel gear 808-1 is positioned to accommodate the first bevel gear 106-1, while the second slot for bevel gear 808-2 is positioned to accommodate the third bevel gear 106-3. The slots 808-1 and 808-2 ensure proper alignment and positioning of the bevel gears relative to the central bevel gear 106-2 housed within the support core 110. The slots 808-1 and 808-2 are critical for maintaining the perpendicular arrangement of the bevel gears. The perpendicular arrangement is necessary for the differential motion transfer that enables the robotic joint apparatus 102 to achieve roll, yaw, and pitch motions using only two actuators.
[0060] Another important feature of the joint connector 108-2 is a slot for wiring 802, which is designed to manage the motor wiring 704. The slot for wiring 802 allows the motor wiring to be routed through the joint connector 108-2, ensuring that the electrical connections to the motor 104-1 and 104-2 are organized and protected. The wiring management feature is essential for preventing damage to the wiring in case when robotic joint apparatus 102 may encounter obstacles or vibrations. The slot for wiring 802 provides a comprehensive wiring management system which enhances the reliability and longevity of the robotic joint apparatus 102.
[0061] FIG. 9 illustrates a schematic diagram of the support core 110, in accordance with an embodiment of the present disclosure. The support core 110 is structurally configured to facilitate differential motion transfer between the motors 104-1 and 104-2, and the bevel gears 106-1, 106-2, and 106-3. The support core 110 is designed as a robust, box-like structure with specific features to support the mechanical components and ensure precise operation.
[0062] Further, there is a slot for bearing 804 in the support core 110, which is centrally located on first lateral side 112-1 of the support core 110. The slot for bearing 804 is designed to accommodate a bearing 604-2, which is press fitted inside the support core 110. The slot for bearing 804 ensures that the bearing is securely positioned, allowing the second bevel gear 106-2 to rotate smoothly while maintaining alignment with the first bevel gear 106-1 and the third bevel gear 106-3. The alignment is critical for the differential bevel gear mechanism, which enables the robotic joint apparatus 102 to achieve roll, yaw, and pitch motions through the coordinated control of the motors 104-1 and 104-2.
[0063] Further, the support core 110 also includes two support shafts: a first support shaft 802-1 and a second support shaft 802-2. The support shafts 802-1 and 802-2 extend from opposite lateral sides of the support core 110, perpendicular to the axis of the slot for bearing 804. The first support shaft 802-1 and the second support shaft 802-2 are designed to provide additional structural support and alignment for the bevel gear assembly. Specifically, these shafts 802-1 and 802-2 serve as mounting points for the bearings (604-1 and 604-2, as shown in FIG. 2) that support the first bevel gear 106-1 and the third bevel gear 106-3, respectively. The bearings are press fitted onto the support shafts 802-1 and 802-2, ensuring that the bevel gears 106-1 and 106-3 can rotate smoothly while maintaining precise meshing with the second bevel gear 106-2. The support shafts 802-1 and 802-2, by providing stable mounting points for the bearings, help reduce backlash and enhance torque transmission efficiency during operation.
[0064] FIG. 10 illustrates a schematic diagram of the joint connector with a connector shaft, in accordance with an embodiment of the present disclosure. The subassembly 1000 depicted in FIG. 10 centers on the joint connector 108-1, which serves as a critical interface for linking the robotic joint apparatus 102 to a robotic module 304 on the first lateral side 112-1 of the support core 110. The joint connector 108-1 is mounted on the first lateral side 112-1 of the support core 110. The joint connector 108-1 allows the robotic joint apparatus 102 to connect robotic module in a modular multi-modal robot configuration.
[0065] FIG. 11 illustrates a flowchart depicting a method 1100 by the robotic joint apparatus 102 with multiple degrees of freedom, in accordance with an embodiment of the present disclosure.
[0066] At step 1102, the method 1100 includes inducing, by the robotic joint apparatus 102, roll motion 402 about a first axis by driving the first motor 104-1 and the second motor 104-2 in the same rotational direction, further causing the second bevel gear 106-2 to rotate about its own axis. In an embodiment, the roll motion 402 may facilitate reorientation of the first module 302, and second module 304 of the modular multi modal robot 300 within constrained environments by rotating adjacent modules of a modular multi modal robot 300 without displacing the entire body, further enhancing maneuverability and obstacle avoidance.
[0067] At step 1104, the method 1100 includes inducing, by the robotic joint apparatus 102, a yaw motion 502 about a second axis orthogonal to the first axis by driving the first motor 104-1 and the second motor 104-2 in opposite rotational directions, further causing a support core 110 and the attached second bevel gear 106-2 to rotate about a motor axis. In an embodiment, this yaw motion 502 enables the modular multi modal robot 300 to execute directional changes, such as steering through curved and angular paths within a pipeline, ground-based terrain, and the like.
[0068] At step 1106, the method 1100 includes generating, by the robotic joint apparatus 102, a pitch motion by sequentially combining the roll motion 402 and yaw motion 502 through coordinated control of the first motor 104-1 and second motor 104-2. In an embodiment, the pitch motion may allow the modular multi modal robot 300 to transition between horizontal, inclined, and vertical sections of the confined environment by adjusting the relative orientation between interconnected modules such as first module 302, and second module 304 of the modular multi modal robot 300.
[0069] At step 1108, the method 1100 includes enabling, by the robotic joint apparatus 102, independent and combined control of the roll, yaw, and pitch motions through real-time coordinated control of the first motor 104-1, and the second motor 104-2. In an embodiment, the control architecture may support precise and adaptive articulation of the robotic joint apparatus 102, further allowing the modular multimodal robot 300 to navigate irregular, cluttered, and dynamic environments such as but not limited to, pipelines, uneven terrains, and confined industrial spaces.
[0070] The order in which the method 1100 is described is not intended to be construed as a limitation, and any number of the described method blocks may be combined or otherwise performed in any order to implement the method 1100 or an alternate method. Additionally, individual blocks may be deleted from the method 1100 without departing from the spirit and scope of the ongoing description. Furthermore, the method 1100 may be implemented in any suitable hardware, software, firmware, or a combination thereof, that exists in the related art or that is later developed. The method 1100 describes, without limitation, the implementation of the robotic joint apparatus 102 with multiple degrees of freedom. A person of skill in the art will understand that method 2300 may be modified appropriately for implementation in various manners without departing from the scope and spirit of the ongoing description.
[0071] Various embodiments of the present disclosure provide a robotic joint apparatus with multiple degrees of freedom and method thereof. Further, the modular multi modal robot may include two or more robotic modules interconnected via a robotic joint apparatus with multiple degrees of freedom. Furthermore, the robotic joint apparatus may include a first bevel gear, second bevel gear, and the third bevel gear actuated by a first motor and second motor, each capable of precise torque delivery and position feedback. Furthermore, the robotic joint apparatus may begin by receiving coordinated control signals to the motors, enabling distinct or combined roll, yaw, and pitch motions. Roll motion may be achieved by driving both motors in the same rotational direction, allowing the second bevel gear to rotate about axis of the second bevel gear itself. Yaw motion may be induced by driving the motors in opposite directions, resulting in rotation of the support core about an orthogonal axis. Pitch motion may be generated through a sequential coordination of roll and yaw, enabling adaptive module alignment across varied orientations. Furthermore, the mechanism may allow the robotic joint apparatus to navigate constrained environments such as, but not limited to, pipelines, cluttered industrial layouts, and uneven terrains by dynamically adjusting the body of modular multi modal robot configuration in real time. The differential actuation reduces motor load while providing enhanced manoeuvrability and redundancy. A control system interprets environmental data and motion feedback to adjust articulation paths dynamically. The integrated architecture supports robust operation through precision gearing, load-aligned bearings, and feedback-enabled servo motors, offering an ideal solution for industrial inspection, exploratory missions, and mobile robotics in complex environments.
[0072] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the invention. When a single device or article is described herein, it will be apparent that more than one device/article (whether they cooperate) may be used in place of a single device/article. Similarly, where more than one device or article is described herein (whether or not they cooperate), it will be apparent that a single device/article may be used in place of the more than one device or article or a different number of devices/articles may be used instead of the shown number of devices or programs. The functionality and/or the features of a device may be alternatively embodied by one or more other devices which are not explicitly described as having such functionality/features. Thus, other embodiments of the invention need not include the device itself.
[0073] The illustrated steps are set out to explain the exemplary embodiments shown, and it should be anticipated that ongoing technological development will change the manner in which particular functions are performed. These examples are presented herein for purposes of illustration, and not limitation. Further, the boundaries of the functional building blocks have been arbitrarily defined herein for the convenience of the description. Alternative boundaries can be defined so long as the specified functions and relationships thereof are appropriately performed. Alternatives (including equivalents, extensions, variations, deviations, etc., of those described herein) will be apparent to persons skilled in the relevant art(s) based on the teachings contained herein. Such alternatives fall within the scope and spirit of the disclosed embodiments. Also, the words “comprising”, “having”, “containing”, and “including”, and other similar forms are intended to be equivalent in meaning and be open-ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items, or meant to be limited to only the listed item or items. It must also be noted that as used herein, the singular forms “a”, “an”, and “the” include plural references unless the context clearly dictates otherwise.
[0074] Finally, the language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the inventive subject matter. It is therefore intended that the scope of the invention be limited not by this detailed description, that issue on an application based here on. Accordingly, the embodiments of the present invention are intended to be illustrative, but not limiting, of the scope of the invention.
, Claims:We claim:
1. A robotic joint apparatus (102) with multiple degrees of freedom, comprising:
a first motor (104-1) configured to generate a rotational torque;
a first bevel gear (106-1) rotatably connected to an output shaft (110-1) of the first motor (104-1) for transmitting the rotational torque;
a second motor (104-2) configured to generate the rotational torque, positioned coaxially with the first motor (104-1);
a second bevel gear (106-2) engaged with both the first bevel gear (106-1) and a third bevel gear (106-3) for transmitting the rotational torque between the first bevel gear (106-1) and the third bevel gear (106-3);
the third bevel gear (106-3) connected to an output shaft (110-2) of the second motor (104-2) for transmitting torque;
a support core (110) configured to house the second bevel gear (106-2), the support core (110) being pivotally mounted between the first motor (104-1) and the second motor (104-2) to provide a rotational movement, wherein the support core (110) comprises a first support shaft (802-1) and a second support shaft (802-2) extending from opposite lateral sides, the first support shaft (802-1) and the second support shaft (802-2) configured to support bearings (604-1, 604-2) for the first bevel gear (106-1) and the third bevel gear (106-3), respectively;
a first joint connector (108-1) mounted on a first lateral side (112-1) of the support core (110) for connecting the robotic joint apparatus (102) to a first module (302), the first joint connector (108-1) comprising a connector shaft (1006) attached to the second bevel gear (106-2) using bolts, wherein the connector shaft (1006) is supported by a bearing (604-3) press fitted into a slot for bearing (804) of the support core (110);
a second joint connector (108-2) mounted on a second lateral side (112-2) of the support core (110), opposite to the first lateral side (112-1), for connecting the robotic joint apparatus (102) to a second module (304), the second joint connector (108-2) comprising a slot for wiring (802) to route motor wiring (704) from the first motor (104-1) and the second motor (104-2); and
wherein the robotic joint apparatus (102) is configured to:
rotate the second bevel gear (106-2) about an axis of the second bevel gear (106-2) by generating a roll motion (402) about a first axis, wherein the roll motion (402) is induced by driving the first motor (104-1) and the second motor (104-2) in the same rotational direction;
rotate the support core (110) and the attached second bevel gear (106-2) about the motor axis by generating a yaw motion (502) about a second axis orthogonal to the first axis, wherein the yaw motion (502) is induced by driving the first motor (104-1) and the second motor (104-2) in opposite rotational direction;
generate a pitch motion by sequentially combining the roll motion (402) and the yaw motion (502), wherein the roll motion (402) and the yaw motion (502) are generated through a real-time coordinated control of the first motor (104-1) and the second motor (104-2); and
control the roll motion (402), the yaw motion (502), and the pitch motion through the coordinated control of the first motor (104-1) and the second motor (104-2).
2. The robotic joint apparatus (102) as claimed in claim 1, wherein the support core (110) further comprises bearings (604) configured to maintain alignment between the second bevel gear (106-2), the first bevel gear (106-1), and the third bevel gear (106-3) and reduce backlash during operation.

3. The robotic joint apparatus (102) as claimed in claim 1, wherein the coordinated control of the first motor (104-1) and the second motor (104-2) provides the robotic joint apparatus (102) to traverse inclined, vertical, and curved pathways within the confined environment by dynamically adjusting the roll motion (402), the yaw motion (502), and the pitch motion.

4. The robotic joint apparatus (102) as claimed in claim 1, wherein the first motor (104-1) and the second motor (104-2) are configured to withstand a predefined torque value to ensure stable traversal of inclined and vertical sections in the confined environment, the first motor (104-1) and the second motor (104-2) are mounted to the second joint connector (108-2) using a motor mount (602), the motor mount (602) is fastened to the second joint connector (108-2) using bolts through bolt holes (806-1, 806-2), and wherein the motor mount (602) comprises a slot for wiring (702) to route the motor wiring (704).

5. The robotic joint apparatus (102) as claimed in claim 1, wherein the first motor (104-1) and the second motor (104-2) are provided with integrated magnetic encoders configured to provide accurate position feedback of the robotic joint apparatus (102).

6. A method, by the robotic joint apparatus (102), comprising:
generating a roll motion (402) about a first axis by driving a first motor (104-1) and a second motor (104-2) in a same rotational direction to rotate a second bevel gear (106-2) on an axis of the second bevel gear (106-2);
generating a yaw motion (502) about the second axis orthogonal to the first axis by driving the first motor (104-1) and the second motor (104-2) in opposite rotational directions to rotate a support core (110) and the second bevel gear (106-2);
generating a pitch motion by sequentially combining the roll motion (402) and the yaw motion (502) through the real-time coordinated control of the first motor (104-1) and the second motor (104-2); and
controlling the roll motion (402), the yaw motion (502), and the pitch motion through the real-time coordinated control of the first motor (104-1) and the second motor (104-2).
7. The method as claimed in claim 6, wherein the support core (110) further comprises bearings configured to maintain alignment the second bevel gear (106-2), the first bevel gear (106-1), and the third bevel gear (106-3) and reduce backlash between during operation.

8. The method as claimed in claim 6, wherein the coordinated control of the first motor (104-1) and the second motor (104-2) allows the robotic apparatus (102) to traverse inclined, vertical, and curved pathways within the confined environment by dynamically adjusting the roll motion (402), the yaw motion (502), and the pitch motion.

9. The method as claimed in claim 6, wherein the first motor (104-1) and the second motor (104-2) are configured to withstand the predefined torque value to provide stable traversal of inclined and vertical sections in the confined environment.

10. The method as claimed in claim 6, wherein the first motor (104-1) and the second motor (104-2) are provided with integrated magnetic encoders configured to provide accurate position feedback of the robotic apparatus (102).