Articulating Probe Spherical Parallel Kinematic System

Solution Overview

Problem

Coordinate measuring machines with serially configured rotary swivel joints face issues due to divergence of masses and mass moments of inertia along movement axes, leading to complex movement sequences and regulation challenges.

Innovation Solution

An articulating probe utilizing a spherical parallel kinematic system with a base platform and a rotor platform, where the rotor platform is coupled to the base via a spherical parallel manipulator, ensuring consistent mass distribution and minimizing divergence of mass moments of inertia by allowing pure rotational movement around a common center of rotation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If a serially configured rotary swivel joint is used to enable movement of the sensor element relative to the workpiece, then the freedom of movement and productivity are improved, but the mass moments of inertia diverge significantly across movement axes leading to complex regulation

Engineering Contradiction:

ImproveproductivityVSAvoidmovement sequence complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent inverts the conventional serial configuration by using a parallel kinematic system where multiple actuation axes (first, second, and third movement axes) simultaneously control the rotor platform's orientation. Instead of one axis carrying the next in sequence, all three axes work in parallel from a common base platform, reversing the traditional hierarchical structure and eliminating the cumulative mass moment of inertia problem.

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The patent segments the movement control into three independent but coordinated axes, each responsible for a specific rotational degree of freedom. The first movement axis controls rotation about the first rotation axis, the second movement axis controls rotation about the second rotation axis, and the third movement axis controls rotation about the third rotation axis. This segmentation allows independent control and compensation of mass moments of inertia for each axis.

Inventive Principle:

Principle #1Segmentation

2Adaptability or versatility

If a serially configured rotary swivel joint is used, then additional freedom of movement is achieved, but the regulation becomes more complex due to translational movement components

Engineering Contradiction:

Improvefreedom of movementVSAvoidregulation complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent inverts the conventional serial configuration by using a parallel kinematic system where multiple actuation axes (first, second, and third movement axes) simultaneously control the rotor platform's orientation. Instead of one axis carrying the next in sequence, all three axes work in parallel from a common base platform, reversing the traditional hierarchical structure and eliminating the cumulative mass moment of inertia problem.

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The patent replaces the mechanical serial linkage system with a parallel kinematic system that uses coordinated rotation of three independent axes. This substitution eliminates the inherent coupling between translational and rotational movements that characterizes serial mechanisms, allowing pure rotational control without the complexity of compensating for translational components.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If rotary swivel joints with multiple rotational degrees of freedom are used, then the sensor element can approach the entire workpiece, but the mass divergence increases along the kinematic path

Engineering Contradiction:

Improveworkpiece accessibilityVSAvoidmass moment of inertia divergence

Core Design Contradiction:

Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent inverts the conventional serial configuration by using a parallel kinematic system where multiple actuation axes (first, second, and third movement axes) simultaneously control the rotor platform's orientation. Instead of one axis carrying the next in sequence, all three axes work in parallel from a common base platform, reversing the traditional hierarchical structure and eliminating the cumulative mass moment of inertia problem.

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The patent creates a universal system where the rotor platform can achieve any orientation through the coordinated action of three movement axes. The first movement axis enables rotation about the first rotation axis, the second movement axis enables rotation about the second rotation axis, and the third movement axis enables rotation about the third rotation axis. This multi-functional arrangement provides complete workpiece accessibility while maintaining consistent mass distribution.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Data Source

PatentUS11543230B2Articulating probe

Publication Date: 2023.01.03 CARL ZEISS INDUSTRIELLE MESSTECHNIKE GMBH

AI summary

An articulating probe for a measurement device includes a base platform, a rotor platform that is movable relative to the base platform, and a sensor element coupled to the rotor platform. The rotor platform is coupled to the base platform via a spherical parallel kinematic system.