Asymmetric Delta Robot Arm Configuration for Compact Line Spacing
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Solution Overview
Problem
Delta robots in robot lines require a large installation space due to their range of motion, which limits the minimum distance between robots, increasing the space needed for robot lines and complicating collision avoidance.
Innovation Solution
Optimizing the arrangement of delta robot arms by adjusting intermediate angles and attachment points to create a slender, elongated polygon shape, allowing for a reduced range of motion while maintaining low moving masses, and arranging robots with bisectors perpendicular to the passage direction to minimize space requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If delta robots are arranged closely together in robot lines, then space requirements are reduced, but collision avoidance becomes more complex and control effort increases
Solution Approach 1:
The patent applies asymmetry by distributing robot arms with different intermediate angles rather than uniformly. Specifically, at least one intermediate angle is made smaller than the others, creating an asymmetric polygon arrangement. This asymmetric configuration reduces the range of motion in critical directions, allowing robots to be positioned closer together while maintaining sufficient clearance to simplify collision avoidance control.
2Shape
If delta robots use traditional arm arrangements with equal intermediate angles, then structural symmetry is maintained, but range of motion is larger requiring more installation space
Solution Approach 1:
The patent deliberately breaks structural symmetry by setting different intermediate angles for the robot arms. The polygon formed by the attachment points has at least one smaller intermediate angle, creating an asymmetric shape that optimizes the range of motion footprint. This allows the robot to maintain functional symmetry in task performance while reducing the overall spatial envelope required for installation.
3Device complexity
If delta robots are positioned with large spacing, then collision avoidance is simplified, but the robot line requires larger installation area
Solution Approach 1:
The patent changes the geometric parameters of the robot arm configuration, specifically the intermediate angles between arms. By optimizing these angular parameters to create an asymmetric polygon with at least one smaller angle, the robot's effective workspace boundary is reduced. This parameter optimization allows for tighter robot spacing in the robot line, reducing total installation area while keeping collision avoidance manageable through controlled clearances.
Data Source
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Figure 2a
AI summary
In order to arrange the delta robots (50), which have low moving masses, closely one behind the other in the direction of travel (100') of a robot line (100), one of the intermediate angles (α1) between the mounting points of the robot arms (3, 4, 5) on the robot base (1) is reduced relative to the other intermediate angles, and the delta robot (50) is positioned transversely, in particular perpendicularly, to the direction of travel (100') of the robot line (100) with the angle bisector (12) of this small intermediate angle (α1). By reducing the intermediate angle (α1), the working area of the delta robot (50) becomes elongated or elliptical when viewed from above, with its greatest extent in the direction of the angle bisector (12) of this smallest intermediate angle (α1).