Cable Robot Parallelogram Stability
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Solution Overview
Problem
Cable robots lack stability when subjected to forces and torques due to the encumbrance of lower stabilizing cables, limiting their ability to maintain orientation and mobility in large workspaces.
Innovation Solution
A cable robot platform with at least three groups of three cables arranged in a parallelogram manner, with cable actuation and uptake located within the robotic platform, providing gravity-stabilized resistance and improved stability through centralized component placement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If lower stabilizing cables are used to provide stability, then stability is improved, but encumbrance increases and mobility is reduced
Solution Approach 1:
The patent removes the lower stabilizing cables from the system entirely. Instead of using cables to stabilize the platform from below, the invention uses a ceiling-mounted robotic arm with a spherical wrist mechanism to provide both positioning and stabilization. This extraction of the problematic element (lower cables) eliminates the encumbrance while maintaining stability through an alternative mechanism.
Solution Approach 2:
The patent inverts the traditional cable robot approach by mounting the robotic mechanism from the ceiling rather than from below. The spherical wrist mechanism is positioned above the platform, allowing it to exert stabilizing forces from above rather than requiring lower cables. This inversion of the mounting configuration resolves the contradiction by providing stability without the encumbrance of lower cables.
2Area of stationary object
If ceiling-mounted robotic arms are used to access large workspaces, then workspace coverage is improved, but stability under force is reduced
Solution Approach 1:
The patent employs a spherical wrist mechanism that provides dynamic stabilization through active control. The spherical wrist can compensate for forces and torques applied to the platform by adjusting its configuration in real-time. This dynamic capability allows the ceiling-mounted robot to maintain stability under force while preserving large workspace coverage.
Solution Approach 2:
The patent incorporates sensors and control systems that provide feedback about forces and torques acting on the platform. This feedback is used to adjust the spherical wrist mechanism and maintain optimal stabilization. The feedback control enables the robot to adapt to changing conditions and maintain stability across the entire workspace.
3Stability of the object's composition
If multiple cables are used to suspend and stabilize the platform, then stability is improved, but device complexity increases
Solution Approach 1:
The patent merges the functions of suspension and stabilization into a single ceiling-mounted robotic arm with a spherical wrist mechanism. Rather than using separate cables for these functions, the integrated mechanism performs both tasks simultaneously. This merging reduces device complexity by eliminating the need for multiple independent cable systems.
Solution Approach 2:
The spherical wrist mechanism serves multiple functions: it provides positioning, stabilization, and compensation for external forces. This multi-functionality reduces the need for separate specialized components, thereby reducing overall device complexity while maintaining high stability performance.
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
Enhances stability and mobility by allowing the platform to resist forces and torques effectively, simplifying installation, and maintaining orientation in a large workspace, while reducing cable stretching and improving precision.
Implementation Method 1
provide the platform with gravity stabilized resistance to motion from forces and torques acting on the platform
Data Source
AI summary
A suspension cable robot is provided, its stability can be improved by using at least three groups of three cables arranged in a parallelogram manner. The ability to remain stable when subjected to forces acting on the robot platform or end effector is thereby significantly increased. The cable robot can be moved by cables to different working locations.