Cable-Driven Parallel Robot Reduces Moving Mass
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Solution Overview
Problem
Conventional pick and place robots used in production processes are often complex, expensive, and inefficient due to their high mass and stiffness requirements for accurate high-speed movement, which necessitate powerful motors and complex designs.
Innovation Solution
A robotic positioning apparatus utilizing at least three substantially parallel tensile support members and one tensile positioning member to maintain tension, allowing for lightweight and efficient movement of elements by reducing the total mass of moving parts and eliminating the need for compressive support members.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If stiff arms with high mass are used to achieve high accuracy positioning, then positioning accuracy is improved, but the robot becomes more complex and expensive requiring powerful motors
Solution Approach 1:
The patent inverts the conventional robotic arm design by replacing compressive rigid arms with tensile flexible cables. Instead of using stiff arms that push and bear load in compression, the system uses cables that pull and support load in tension, fundamentally changing the mechanical approach to achieve positioning with reduced mass and complexity
Solution Approach 2:
The patent replaces the traditional mechanical rigid arm system with a cable-driven parallel mechanism. The rigid mechanical structure is substituted with flexible tensile elements (cables) that work in parallel, eliminating the need for heavy motors and complex rigid joint mechanisms while maintaining positioning capability
2Manufacturing precision
If stiff arms with high mass are used to achieve high accuracy positioning, then positioning accuracy is improved, but the robot requires more energy and powerful motors
Solution Approach 1:
The patent inverts the conventional robotic arm design by replacing compressive rigid arms with tensile flexible cables. Instead of using stiff arms that push and bear load in compression, the system uses cables that pull and support load in tension, fundamentally changing the mechanical approach to achieve positioning with reduced mass and complexity
Solution Approach 2:
The parallel cable arrangement creates a balanced tensile support system where multiple cables share the load, effectively counterbalancing the weight of the movable platform and reducing the net force required for positioning, thereby lowering energy consumption
3Use of energy by moving object
If lighter components are used to reduce mass, then energy consumption is reduced, but positioning accuracy may deteriorate
Solution Approach 1:
The patent employs dynamic control of cable tensions to maintain positioning accuracy. By actively adjusting the tension in each cable based on real-time feedback and control algorithms, the system compensates for the flexibility of lightweight cable components, ensuring accurate positioning despite using low-mass elements
Solution Approach 2:
The system incorporates feedback control mechanisms that monitor the positions and tensions of the cable elements, continuously adjusting cable lengths and tensions to maintain precise positioning of the movable platform, thereby achieving high accuracy with lightweight components
Data Source
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AI summary
A robotic positioning apparatus configured for moving an element from an initial position to a target position. The apparatus comprises a moveable member attachable to an element to be moved; at least one tensile support member for supporting the movable member; and at least one tensile positioning member for repositioning the moveable member. The at least one tensile positioning member is configured to maintain the at least one tensile support member in tension. The at least one tensile support member is configured to maintain an inclination of at least a portion of the moveable member during repositioning