Composite Work Device Link Actuation Mechanism
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Solution Overview
Problem
Existing composite work apparatuses using link actuation devices face challenges in achieving a high-speed, high-accuracy, and wide operating range while maintaining a compact size, as they often require large dimensions and limited weight capacity due to restricted movement ranges and potential interference between link actuation devices.
Innovation Solution
A composite work apparatus utilizing two link actuation devices with three or more linear motion actuators and a two-degrees-of-freedom mechanism, allowing for independent posture changes and movement in multiple directions, thereby enabling simultaneous work on multiple objects with reduced inter-object distance and preventing device interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the operating range of a travelling plate is set to be large, then the operating range is improved, but the link length is increased, thus resulting in large dimensions of the entire mechanism
Solution Approach 1:
The mechanism is divided into multiple linkages (first linkage, second linkage, third linkage, fourth linkage) that work together in a parallel configuration. Each linkage has a moderate length, and their coordinated movement achieves a large operating range without requiring individual links to be excessively long.
Solution Approach 2:
The mechanism transitions from planar movement to three-dimensional movement by adding vertical motion capability through the parallel linkage arrangement. This allows the travelling plate to achieve a large operating range in multiple directions (horizontal and vertical) without increasing link lengths proportionally.
2Adaptability or versatility
If the link length is increased to broaden operating range, then the operating range is improved, but the rigidity of the entire mechanism is low
Solution Approach 1:
The mechanism uses multiple shorter linkages arranged in parallel rather than a single long linkage. This segmentation maintains rigidity because each individual linkage remains short and stiff, while the parallel arrangement collectively provides the necessary operating range.
Solution Approach 2:
The parallel linkage structure provides inherent structural stability and rigidity from the outset, preventing mechanism deformation during operation. The redundant linkage paths distribute loads and maintain geometric stability throughout the operating range.
3Productivity
If two link actuation devices are used to perform work on two work objects, then productivity is improved, but the devices may interfere with each other
Solution Approach 1:
Two link actuation devices are merged into a single integrated mechanism where the linkages are coupled through shared components (mounting plate, common actuators). This merging allows coordinated movement that prevents interference while maintaining the ability to work on two objects simultaneously.
Solution Approach 2:
The mechanism is designed with universal mounting structures and common actuators that serve multiple functions. The same actuation system controls both link actuation devices, enabling them to move independently without interfering with each other's operation zones.
4Volume of stationary object
If the linear motion actuators are disposed coaxially to move link actuation devices, then the structure is compact, but the ranges of movement are limited
Solution Approach 1:
The mechanism adds vertical motion capability to the coaxially arranged actuators, transforming their movement from purely horizontal to three-dimensional. This allows the link actuation devices to achieve a larger effective range of movement while maintaining the compact coaxial arrangement of the actuators themselves.
Solution Approach 2:
The linkages are designed to dynamically change their configuration and orientation during operation. As the actuators move, the linkages articulate through multiple joints, allowing the distal ends to reach positions beyond what the actuator stroke alone would permit, thus expanding the effective range of movement.
Data Source
AI summary
The composite work apparatus includes: two link actuation devices that support two working bodies such that postures of the working bodies can be individually changed; and three or more linear motion actuators that move the two link actuation devices and two or more work objects relative to each other. In each link actuation device, a distal end side link hub is connected to a proximal end side link hub via three or more link mechanisms such that a posture of the distal end side link hub can be changed relative to the proximal end side link hub, and a posture control actuator that arbitrarily changes the posture of the distal end side link hub relative to the proximal end side link hub is provided to each of two or more link mechanisms of the three or more link mechanisms.