6-dof Parallel Robot With Double-Gyroscopic Component
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Solution Overview
Problem
Existing parallel robots, such as Delta and H4 mechanisms, suffer from limited degrees of freedom, poor force transmission, inefficient energy use, and a compact yet rigid structure, which hinders their performance in tasks requiring high precision and dynamic capabilities.
Innovation Solution
A 6-dof parallel robot with a double-gyroscopic component, comprising a fixed platform, a moving platform with upper and lower gyroscope subcomponents, and screw-nut subcomponents, along with 3-dof translational robotic components and driving motors, enabling six degrees of freedom motion without singularity, high rigidity, and a large rotational workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If Delta mechanism is used for high-speed parallel motion, then speed is improved, but only three translational degrees of freedom are available, preventing rotational motion in pickup operations
Solution Approach 1:
The moving platform is segmented into two independent gyroscopic components (upper and lower), each capable of rotational motion. This segmentation allows the system to achieve both translational and rotational degrees of freedom while maintaining high-speed parallel motion capabilities, resolving the limitation of the traditional Delta mechanism which only provides three translational DOFs
Solution Approach 2:
The invention adds rotational dimensions to the traditional three-dimensional translational Delta mechanism by incorporating gyroscopic components. The upper and lower gyroscopic components enable rotation around multiple axes, transforming the system from purely translational (3 DOFs) to combined translational and rotational (6 DOFs), thereby enabling pickup operations while maintaining high speed
2Adaptability or versatility
If H4 mechanism with four limbs and two moving platforms is used, then SCARA motions are achieved, but many components are located in the same plane making the moving platform large in size
Solution Approach 1:
The upper gyroscopic component is nested within or integrated with the lower gyroscopic component structure. This nested arrangement allows both gyroscopic components to occupy overlapping or adjacent spatial volumes rather than requiring separate planar arrangements, significantly reducing the overall footprint and size of the moving platform while maintaining full SCARA motion capabilities
3Adaptability or versatility
If H4 mechanism is used with adjacent limbs driving the same component, then SCARA motions are achieved, but force transmission and energy efficiency become poor
Solution Approach 1:
Each gyroscopic component is driven by dedicated driving motors located at specific positions optimized for that component. The upper gyroscopic component has its own driving motors, and the lower gyroscopic component has its own driving motors, rather than having adjacent limbs share driving components. This localized driving arrangement improves force transmission efficiency and reduces energy loss by eliminating the inefficiencies of shared driving mechanisms
4Area of moving object
If the moving platform size is made large to accommodate amplifying mechanisms, then rotational workspace is increased, but the mechanism becomes heavier and less compact
Solution Approach 1:
Instead of increasing the planar size of the moving platform to achieve larger rotational workspace, the invention utilizes the vertical dimension and the gyroscopic components' inherent rotational capabilities. The upper and lower gyroscopic components enable rotation around multiple axes within a compact vertical arrangement, providing extensive rotational workspace without increasing the platform's horizontal footprint or weight
Solution Approach 2:
The gyroscopic components serve multiple functions simultaneously: they provide rotational motion, define the moving platform's orientation, and enable both translational and rotational degrees of freedom. This multi-functionality eliminates the need for separate amplifying mechanisms that would increase weight and size, as the gyroscopic components themselves perform the rotational workspace function
Data Source
AI summary
A 6-dof parallel robot with a double-gyroscopic component comprises a fixed platform (1), a moving platform (2) and two modules of 3-dof translational robotic component (3); wherein two modules of 3-dof translational robotic component (3) are connected between the moving platform (2) and the fixed platform (1). The 6-dof parallel robot with a double-gyroscopic component provided by the present invention has the following advantages: excellent dynamic performance, compact structure, six degrees of freedom motion with no singularity, high rigidity, high precision, good stability, a large rotational workspace, etc., thus having a broad prospect in both scientific research and industrial application.