Four-Bar Linkage Robot Arm Layout for Lightweight Heavy-Load Motion
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Solution Overview
Problem
Conventional robots, particularly articulated robots, face challenges in achieving a lightweight design while maintaining structural rigidity and efficiency, often requiring high drive power and increased manufacturing costs due to the presence of drive components on moving parts.
Innovation Solution
The robot employs a mechanical serial kinematic chain with a four-bar linkage mechanism, where the pivot and support arms are driven indirectly via four-bar linkages, with drive units located at the base, eliminating drive components from the moving structure and utilizing rod and plate-shaped elements for a compact, rigid design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If drive components are placed on moving parts (pivot arm and support arm), then direct drive capability is achieved, but weight of moving object increases and device complexity increases
Solution Approach 1:
The drive components (motors and transmission units) are extracted from the moving parts (pivot arm and support arm) and relocated to the stationary base. This extraction eliminates the weight of drive components from the moving structure, directly resolving the contradiction between achieving drive capability and minimizing moving weight.
Solution Approach 2:
A four-bar linkage mechanism is introduced as an intermediary between the stationary drive units and the moving pivot arm. This linkage transmits motion and force without requiring drive components on the moving part itself, enabling indirect drive while keeping the moving structure lightweight.
2Power
If drive components are placed on moving parts, then direct drive is achieved, but device complexity increases
Solution Approach 1:
By extracting drive components from the moving structure and placing them on the stationary base, the complexity of the moving structure is reduced. The moving parts only contain passive transmission elements (four-bar linkage) rather than complex integrated drive systems.
Solution Approach 2:
The four-bar linkage serves as a simple mechanical intermediary that translates rotational motion from the base-mounted drive units into the desired motion of the pivot arm, avoiding the need for complex direct-drive mechanisms on the moving parts.
3Power
If conventional direct drive is used, then drive capability is achieved, but manufacturing costs increase
Solution Approach 1:
Extracting drive components from moving parts simplifies the manufacturing process by allowing standard base-mounted motor assemblies to be used, rather than requiring specialized integrated drive systems for each moving component. This reduces manufacturing complexity and cost.
Solution Approach 2:
The four-bar linkage uses simple, easily manufactured linkages and joints that can be produced cost-effectively through standard machining or even 3D printing, replacing expensive specialized direct-drive mechanisms.
Data Source
AI summary
The invention relates to a robot with a base (3), a pivoting arm (4) which is articulated to the base (3) and which is pivotable about a rotational axis (13), wherein at the free end of the pivot arm (4) a pivotable mounting for a possible support arm (5) may be provided, and at least one drive unit (6, 7) for driving the pivot arm (4) and the possible support arm (5). According to the invention, a first drive unit (6) is coupled to a first four-bar linkage (8), a second four-bar linkage (9) is coupled to the first four-bar linkage (8) in such a way that the pivot arm (4) can be pivoted by the first drive unit (6).