Geared Parallel Manipulator Design for Miniaturization
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Solution Overview
Problem
Existing parallel manipulators are complex in design and have limited size reduction due to difficulties in fabricating miniature revolute joints and substituting pin-in-hole joints with flexure hinges, making them costly and impractical for miniaturization and micro-manufacturing applications.
Innovation Solution
A SCARA-type geared parallel manipulator is designed using two motors driving pinions that mesh with racks joined via a revolute joint or flexure hinge, allowing for simple fabrication from sheet metal parts and submillimeter sizes using thin film technologies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional parallel manipulators use revolute joints and pin-in-hole joints, then they achieve reliable mechanical connections, but their design becomes complicated and miniaturization is limited
Solution Approach 1:
The patent replaces traditional mechanical revolute joints and pin-in-hole joints with a rack-and-pinion mechanism. This substitution eliminates the need for complex miniature joint fabrications while maintaining reliable mechanical connections. The rack-and-pinion system provides robust joint behavior without requiring precision miniature machining, thereby reducing design complexity and enabling miniaturization.
2Volume of moving object
If traditional parallel manipulators use flexure hinges to replace revolute joints, then miniaturization becomes possible, but fabrication difficulty increases and cost rises
Solution Approach 1:
The patent substitutes flexure hinges with a rack-and-pinion mechanism that can be fabricated using standard sheet metal forming processes. This replacement maintains the ability to achieve miniaturization while significantly improving ease of manufacture. The rack and pinion can be produced through conventional manufacturing techniques rather than requiring precision fabrication of flexible hinge components.
Solution Approach 2:
The patent changes the geometric parameters and configuration of the rack-and-pinion mechanism to optimize for miniaturization. By carefully selecting gear ratios, rack dimensions, and pinion sizes, the system achieves compact scaling suitable for micro-manufacturing applications while remaining manufacturable using standard processes.
3Volume of moving object
If traditional parallel manipulators are scaled down to micro-scale, then they become suitable for MEMS applications, but fabrication of miniature joints becomes impossible
Solution Approach 1:
The patent replaces traditional miniature joints with a rack-and-pinion mechanism that scales effectively to micro-scale. This substitution allows the manipulator to be fabricated using standard micro-manufacturing techniques such as laser cutting, bending, and assembling thin metal sheets, eliminating the need for impossible precision joint fabrications while achieving the required miniaturization for MEMS applications.
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
The solution enables the creation of a cost-effective, simple, and scalable parallel manipulator suitable for microelectromechanical systems (MEMS) and various industrial applications like 3D printing, with improved design simplicity and miniaturization capabilities.
Implementation Method 1
two motors, each driving in a controlled manner one pinion. The two pinions mesh each with a rack
Implementation Method 2
said two racks being joined together via a revolute joint, or via a flexure hinge
Data Source
AI summary
A geared parallel manipulator of the SCARA type is provided that consists of a pair of motors, each driving in a controlled manner a pinion. The two pinions mesh each with a rack, said two racks being joined together via a revolute, or via a flexure hinge. The proposed parallel manipulator is simple in design and can be fabricated inexpensively of stamped sheet metal or of extruded parts. It can also be fabricated as a microelectromechanical system (MEMS) using thin film technologies.