Compact Parallel Manipulator Layout for Six-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 in reducing the device's overall dimensions.
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 the arm and link parts are rotatably connected to reduce size by optimizing the coupling of components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If first links and second links are coupled to different platforms (end platform and middle platform), then the manipulator can operate with six degrees of freedom, but the device becomes large in size
Solution Approach 1:
The patent merges the coupling points of first links and second links onto the same platform (end platform), eliminating the need for a separate middle platform. This consolidation reduces the number of components and overall device volume while preserving the six degrees of freedom capability through the parallel link mechanism configuration.
Solution Approach 2:
The patent employs a nested structure where the parallel link mechanism is integrated within a compact base part, and the end platform is positioned efficiently within the overall structure. The three sets of parallel links are arranged in a nested configuration that minimizes spatial occupation while maintaining full six-degree-of-freedom motion capability.
2Productivity
If three sets of parallel link mechanisms are used with six degrees of freedom, then operational efficiency and control are maintained, but the device size increases
Solution Approach 1:
The patent combines three sets of parallel link mechanisms into a single integrated parallel manipulator system with six degrees of freedom, rather than using separate mechanisms. This merging achieves compact positioning and orientation control while maintaining high operational efficiency through the coordinated action of all three link sets.
Solution Approach 2:
The patent utilizes spatial arrangement in three dimensions to configure the three sets of parallel links, allowing them to operate efficiently while occupying minimal volume. The links are arranged in different spatial orientations (vertical, horizontal, and inclined) to achieve six degrees of freedom control within a compact footprint.
Data Source
AI summary
A manipulating device includes a base part, a user interface disposed above the base part and having a movable part and a grip part, 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 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, 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, and the base part is coupled to the movable part through three sets of parallel link mechanisms with six degrees of freedom.