Hybrid Robot with Nested Spatial Orientation Unit
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robots either lack the rigidity needed for precise workpiece handling or suffer from restricted movement capabilities, failing to combine the high rigidity of parallel kinematic robots with the agility and flexibility of articulated arm robots for optimal tool orientation and positioning.
Innovation Solution
A hybrid robot design incorporating three variable-length rods for spatial translational positioning, a multifunctional space joint with a spherical cap, ball joint, and articulated connectors for spatial orientation, and a multi-axis space joint using nested three-dimensional four-bar linkages to enable collision-free rotational movement transfer between nested shafts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If parallel kinematic robot structure is used, then rigidity is improved, but flexibility and agility for tool orientation are worsened
Solution Approach 1:
The robot system is divided into two independent but coordinated subsystems: a parallel kinematic robot (PKR) for maintaining rigidity and a spatial orientation unit (SOU) for providing flexibility. The PKR handles translational positioning with high rigidity, while the SOU mounted on the end effector handles rotational orientation independently, allowing each subsystem to optimize its function without compromising the other.
Solution Approach 2:
The invention merges the parallel kinematic robot and the spatial orientation unit into a hybrid system where both subsystems work together. The SOU is mounted on the end effector of the PKR, combining the rigid positioning capability of the PKR with the flexible orientation capability of the SOU, thereby achieving both rigidity and adaptability simultaneously.
2Adaptability or versatility
If articulated arm robot structure is used, then flexibility for tool orientation is improved, but rigidity is worsened
Solution Approach 1:
The system segments the functions of positioning and orientation into separate subsystems. The parallel kinematic robot subsystem provides rigid translational positioning, while the spatial orientation unit subsystem provides flexible rotational orientation. This segmentation allows the articulated arm's flexibility to be utilized only for orientation where it is needed, while the PKR maintains rigidity for positioning.
Solution Approach 2:
The spatial orientation unit serves as a multi-functional component that can be mounted on the end effector of different parallel kinematic robot configurations. It provides universal rotational orientation capability (pitch, roll, yaw) that works with various PKR structures, making the solution broadly applicable while maintaining both rigidity from the PKR and flexibility from the SOU.
3Adaptability or versatility
If additional spatial orientation unit is added to parallel kinematic robot, then flexibility for tool orientation is improved, but device complexity is worsened
Solution Approach 1:
The spatial orientation unit is nested on the end effector of the parallel kinematic robot, with the SOU's rotational axes nested within each other (con Concentric arrangement of pitch, roll, and yaw axes). This nested configuration minimizes the space required and reduces overall system complexity while providing full 3D orientation capability.
Solution Approach 2:
The end effector serves as an intermediary component that connects the parallel kinematic robot to the spatial orientation unit. It provides a mounting interface that allows the SOU to be attached while maintaining the structural integrity and coordination between the two subsystems, thereby managing the complexity through a well-defined interface.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
The hybrid robot has a multifunctional space joint component (3), parallelism holder (5) and a multi-axis space joint component that are used simultaneously. Three linear actuators (2) are connected with a tool spatial orientation unit. The multifunctional space joint component is provided with a ball calotte (7) and/or cone calotte. The parallelism holder is provided for holding the lower and upper coupling plates (13,14) with respect to a stationary base plate (32). The coupling rods are provided with universal joint portions.