Cable-Driven Parallel Robot Modular End Effector
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Solution Overview
Problem
Cable-driven parallel robots face interference issues with objects and neighboring structures in enclosed workspaces, limiting their workspace efficiency and requiring costly structural modifications to avoid interference.
Innovation Solution
A cable-driven parallel robot with a modular end effector and module-direction changing standby stations, allowing modules to be coupled or decoupled and adjusted via cables, enabling efficient movement to upper and side parts of objects without interference, and maximizing workspace efficiency by reorganizing the workspace into various shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a cable-driven parallel robot is configured to have a complete enclosed space structure, then structural stability is improved, but workspace efficiency deteriorates due to interference with objects and neighboring structures
Solution Approach 1:
The end effector is divided into multiple detachable modules that can be independently positioned and configured. This segmentation allows the robot to adapt its structure to avoid interference with objects and neighboring structures while maintaining operational stability through modular assembly.
Solution Approach 2:
The system transitions from a fixed enclosed structure to a dynamic configuration where modules can be detached, repositioned, and reattached. This dynamic adaptability enables the robot to optimize its workspace by reconfiguring around obstacles while preserving structural integrity when needed.
2Device complexity
If the end effector is designed as a fixed single structure, then structural simplicity is improved, but adaptability to different workspaces deteriorates
Solution Approach 1:
The end effector is divided into multiple detachable modules that can be independently positioned and configured. This segmentation allows the robot to adapt its structure to avoid interference with objects and neighboring structures while maintaining operational stability through modular assembly.
Solution Approach 2:
The modular design enables the same set of modules to serve multiple functions across different workspace configurations. Modules can be recombined in various arrangements to suit different task requirements, providing universal adaptability without requiring completely different structures for each application.
3Productivity
If modules are continuously repositioned to avoid interference, then workspace efficiency is improved, but time for module reconfiguration increases
Solution Approach 1:
Module reconfiguration is performed in advance during periods when the robot is not actively engaged in primary tasks. The modular design allows for pre-positioning and pre-configuration of modules so that when workspace conditions change, the system can quickly switch between pre-prepared configurations rather than performing complex real-time reassembly.
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
The modular design allows for continuous work and increased workspace efficiency by enabling modules to move freely along the object's surface, reducing working hours and improving productivity while maintaining precision and payload capacity.
Implementation Method 1
a plurality of driving units respectively provided on respective sides of the installation frame, each of the driving units generating forward and reverse rotational power
Data Source
AI summary
Disclosed is a cable-driven parallel robot capable of changing a workspace, in which the cable-driven parallel robot is provided with an end effector having a plurality of modules that can efficiently move to upper and side parts of an object without interference. Module-direction changing standby stations are provided on each of opposing sides of an upper frame such that the modules of the end effector are coupled to the module-direction changing standby station for direction change standby, so that the modules can efficiently move to upper and side parts of the workspace without interference, thereby maximizing work efficiency. To this end, there is provided a cable-driven parallel robot including: an installation frame, and upper and side frames; a plurality of driving units; a plurality of cables; the module-direction changing standby station; and an end effector provided with a plurality of modules.