24-Axis Orientation Mechanism With Nested Arc-Links to Avoid Singularity
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Solution Overview
Problem
Existing concentric mechanisms face challenges in operating smoothly without mutual interference and/or singularity, particularly when considering practical design and geometric limitations.
Innovation Solution
The mechanism is geometrically constituted by twenty-four concentric axes, comprising a top frame set, a low frame set, eight top arc-link sets, eight low arc-link sets, and eight transmit sets. This configuration includes specific geometric definitions for the frames and arc-links to prevent interference, with two configurations classified as [Outer Config.] and [Inner Config.].
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple concentric axes are increased to achieve more complex spherical coordinate kinematics, then the orientation capability is improved, but the device complexity and risk of mutual interference increase
Solution Approach 1:
The mechanism is divided into multiple independent arc-link sets (eight top arc-link sets and eight low arc-link sets), each operating on its own concentric axis. This segmentation allows complex orientation capabilities to be achieved through coordinated operation of simpler, modular units, reducing overall system complexity while maintaining high adaptability.
Solution Approach 2:
The mechanism employs nested concentric axes where inner arc-link sets are positioned within outer frames, and outer arc-link sets encompass inner components. This nesting arrangement allows multiple axes to share common space without mutual interference, achieving complex orientation capability within a compact structure.
2Reliability
If geometric constraints are tightened to prevent mutual interference, then operational reliability is improved, but the design complexity and manufacturing difficulty increase
Solution Approach 1:
Different geometric constraints and clearance requirements are applied to different parts of the mechanism. Critical interference zones between concentric axes have tighter geometric control, while non-critical areas have more relaxed tolerances. This localized quality approach ensures operational reliability without unnecessarily increasing overall manufacturing complexity.
Solution Approach 2:
The patent establishes predetermined geometric relationships and clearance specifications between arc-link sets and frames during the design phase. These preliminary geometric definitions prevent mutual interference before operation begins, ensuring reliable performance while providing clear manufacturing guidelines that reduce design iteration complexity.
3Measurement precision
If transmit sets with multiple components are added to provide synchronous rotation, then the precision of spherical coordinate kinematics is improved, but the device complexity and potential failure points increase
Solution Approach 1:
The transmit sets are designed with universal components that serve multiple functions. Pulleys and belts are used both for torque transmission and for maintaining precise geometric relationships between axes. Gears provide both motion transmission and positional reference. This multi-functionality achieves precise spherical coordinate kinematics without proportionally increasing device complexity.
Solution Approach 2:
The transmit sets act as intermediary mechanisms between drive modules and arc-link sets. The belts and pulleys provide flexible torque transmission while maintaining precise motion relationships, serving as mediators that decouple the complexity of precise kinematic control from the simplicity of motor actuation, thereby improving precision without linearly increasing overall system complexity.
Data Source
AI summary
A mechanism geometrically constituted by twenty-four concentric axes is manipulated for spherical coordinate kinematics. The mechanism includes a top frame set, a low frame set, eight top arc-link sets, eight low arc-link sets, and eight transmit sets.