Cable-Constrained Planar Positioning for Precise Scalable Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current positioning systems, such as gantry robots and cable robots, face challenges in scalability and precise control due to the need for heavy bearing structures and complex nonlinear equations, respectively, while also struggling to constrain degrees of freedom effectively.
Innovation Solution
A Cartesian positioning system using flexible constraint members, specifically cables, to constrain the degrees of freedom of a moving output member, with a guide mechanism and restraint mechanism that includes synchronized linear carriages and cable uptake/release devices to maintain precise positioning and scalability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a gantry robot with heavy bearing structures is used to constrain degrees of freedom, then positioning precision and structural stability are improved, but system mass increases and scalability is reduced
Solution Approach 1:
The patent extracts the bearing structure from the moving gantry and relocates it to the fixed base. Only lightweight cable drive components remain on the moving cart, while the heavy bearing structure stays stationary at the base, eliminating the mass penalty while maintaining positioning precision
Solution Approach 2:
Instead of the conventional approach where the moving gantry carries bearing structures to constrain the output member, this patent inverts the arrangement by having the output member carry cable drive components that pull the moving cart along guide rails with bearing structures at the fixed base
2Weight of moving object
If cable robots are used to eliminate heavy moving structures, then system mass is reduced and scalability is improved, but control complexity increases due to nonlinear equations
Solution Approach 1:
The patent makes the moving cart universal by equipping it with both cable drive components for motion control and bearing components for degree of freedom constraint. This multi-functional design integrates the advantages of both gantry and cable robots into a single scalable platform
Solution Approach 2:
The patent introduces a movable bearing structure that can dynamically adapt its configuration based on operational requirements, allowing the system to maintain simplicity while accommodating various positioning scenarios through adjustable bearing arrangements
3Manufacturing precision
If a Cartesian robot design is used to constrain degrees of freedom, then positioning accuracy is improved, but the bearing structure adds considerable moving mass
Solution Approach 1:
The patent extracts the bearing structure from the moving components and relocates it to the fixed base, eliminating the moving mass penalty while preserving the Cartesian robot's positioning accuracy through the guide rails and bearing arrangement at the stationary base
Data Source
AI summary
A system and method for a planar positioning system for an output member, the system having a pair of x-coordinate linear carriages and a pair of y-coordinate linear carriages. The system has a guide mechanism for the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages. The system has a plurality of movement and constraining cables extending from the pair of x-coordinate linear carriages and the pair of y-coordinate linear carriages to the output member for driving the output, wherein the pair of x-coordinate linear carriages and the output member move in sync in the x-direction and the pair of y-coordinate linear carriages and the output member move in sync in the y-direction. A restraint mechanism restrains the output member in an additional degree of freedom besides the x- and y-directions. The restraint can be a cable uptake and release device.