Angled-Axis Articulated Robot Links for Base-Proximate Reach
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Solution Overview
Problem
Conventional articulated robots have a limited working area due to link interference, particularly near the base, which restricts the reachability and accuracy of the end section of the arm.
Innovation Solution
The articulated robot incorporates a first driving mechanism with a first motor to rotate a second link relative to a first link about a first rotation axis forming an angle greater than a predetermined angle with the first link's direction, and a first moving mechanism with a screw part and moving part to move the first driving mechanism along the first link's direction, along with a second moving mechanism to move the second link relative to the first driving mechanism, allowing for enhanced control and reachability of the end section.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If conventional articulated robot arm links are used, then the robot structure is simple, but the working area is limited due to link interference near the base
Solution Approach 1:
The robot arm is divided into multiple independent links (first link, second link, third link) that can move relative to each other. The first driving mechanism is further segmented into a rotating part and a non-rotating part, allowing independent control of rotational and translational movements. This segmentation enables the end section to reach areas near the base that would be inaccessible to conventional articulated robots with fewer, more rigid links.
Solution Approach 2:
The first driving mechanism introduces a new degree of freedom by allowing the second link to rotate about an axis that forms an angle greater than a predetermined angle with the first link's extension direction. This angular offset creates a three-dimensional movement capability that enables the end section to reach into the base vicinity without requiring the links to align in a single plane, thereby expanding the working area.
2Length of moving object
If the angle between links approaches 0° to increase reachability, then the end section can reach closer to the base, but link interference increases
Solution Approach 1:
By configuring the first driving mechanism to rotate about an axis forming an angle greater than a predetermined angle with the first link's extension direction, the patent enables the second link to move in a three-dimensional trajectory rather than being constrained to a single plane. This angular offset allows the end section to reach close to the base while maintaining sufficient clearance between links, preventing interference even when the effective reach is maximized.
3Measurement precision
If conventional link control is used, then the robot structure is simple, but the accuracy of controlling the end section is limited
Solution Approach 1:
The first driving mechanism is segmented into a rotating part that controls rotational movement and a non-rotating part that controls translational movement along the link. This segmentation allows independent control of the second link's orientation and position, enabling precise positioning of the end section. The separate control of rotational and translational components improves accuracy without requiring overly complex integrated mechanisms.
Solution Approach 2:
The patent employs dynamic control mechanisms where the first driving mechanism can adjust its configuration during operation. The rotating part and non-rotating part work cooperatively to provide real-time adjustment of the second link's position and orientation, enhancing the accuracy of end section control while maintaining operational flexibility.
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 enables the end section of the robot to move closer to the base with high accuracy, expanding the working area and improving the robot's reachability without limiting its operational space.
Implementation Method 1
a first screw part disposed within the first link, extending in the first direction, and configured to rotate about an axis as a rotation axis along the first direction in association with rotation of the second motor; and a first moving part that is connected to the first driving mechanism, to which the first screw part is inserted, and that is configured to move relative to the first screw part in association with rotation of the first screw part
Implementation Method 2
a second screw part disposed within the second link, extending in the second direction, and configured to rotate about an axis as a rotation axis along the second direction in association with rotation of the third motor; and a second moving part that is connected to the first driving mechanism, to which the second screw part is inserted, and that is configured to move relative to the second screw part in association with rotation of the second screw part
Data Source
AI summary
An articulated robot includes a base; an end section; a plurality of links including a first link and a second link and connecting the base and the end section to each other; a first driving mechanism connecting the first link and the second link to each other and configured to rotate the second link about an axis as a first rotation axis relative to the first link, the axis as the first rotation axis forming an angle greater than a predetermined angle with a first direction in which the first link extends; a first moving mechanism configured to move the first driving mechanism relative to the first link along the first direction; and a second moving mechanism configured to move the second link relative to the first driving mechanism along a second direction in which the second link extends.