Parallel Link Manipulator Layout for Compact 6-DOF Robot Control
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Solution Overview
Problem
Conventional parallel manipulators with six degrees of freedom are large in size due to the coupling of first and second links to different platforms, posing a challenge for size reduction.
Innovation Solution
A manipulating device with a base part, user interface, parallel link mechanism, position sensor, and controller, featuring three sets of parallel link mechanisms with six degrees of freedom, where arm parts are connected through a first connecting member with a set holding force, allowing independent operation based on load applied, reducing overall size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the first links and second links are coupled to different platforms (end platform and middle platform), then the parallel manipulator achieves six degrees of freedom operation, but the device becomes large in size
Solution Approach 1:
The patent merges the coupling point of first and second links onto the same platform (end platform), consolidating what were previously separate coupling locations. This merging of coupling points reduces the overall structural footprint while preserving the six degrees of freedom capability through the parallel link mechanism configuration
2Volume of moving object
If the arm parts are connected through a first connecting member with given holding force, then the device size is reduced, but the operational flexibility may be limited
Solution Approach 1:
The first connecting member is designed with a specific holding force characteristic that allows it to dynamically adapt between rigid connection (when holding force is sufficient) and flexible connection (when holding force is exceeded). This dynamic behavior enables the system to maintain compact size while preserving operational flexibility across different working conditions
Data Source
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AI summary
A manipulating device includes a base part (101), a user interface (102) disposed above the base part (101) and having a movable part (11) and a grip part (12), a parallel link mechanism having a pair of arm parts and a pair of link parts, a position sensor configured to detect a position of a base-end part of the arm part, and a controller (110) configured to control at least one of a position and a posture of a robot based on the position detected by the position sensor. The arm part is rotatably connected at a base-end part to the base part (101), the link part is rotatably connected at a base-end part to the arm part, and is rotatable connected at a tip-end part to the movable part (11), and the base part (101) is coupled to the movable part (11) through three sets of parallel link mechanisms (103A-103C) with six degrees of freedom.