Linear Delta Robot Layout for Low-Inertia Workspace Extension
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Solution Overview
Problem
Delta and hexapod robots face limitations in workspace accessibility and mobility due to their compact configurations and increased inertia from additional drive units, which restrict their applications in underwater and high-speed environments, as well as their requirement for significant framing, making them unsuitable for mobile or space-constrained applications.
Innovation Solution
A linear delta system with a support frame, rails, linear actuators, and pairs of parallel rods that allow for translation and extension, enabling a compact and mobile configuration without additional drive units on the load path, thereby reducing inertia and increasing workspace accessibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If additional drive units and associated electronics and linkages are placed on the load path to impart additional degrees of freedom, then the robot gains enhanced functionality, but the mass and inertia are increased, hindering speed and underwater application performance
Solution Approach 1:
The patent extracts the drive units from the load path (moving platform) and relocates them to the fixed base structure. This separation removes the unnecessary mass and inertia from the moving components while preserving the robotic functionality through the passive parallelogram mechanism that maintains platform orientation.
Solution Approach 2:
Instead of the conventional approach where drive units are mounted on the moving platform, this patent inverts the configuration by mounting drive units on the fixed base and using passive mechanical linkages to achieve the same functional outcomes, thereby reducing moving mass.
2Adaptability or versatility
If conventional drive units and electronics are placed on the load path, then additional degrees of freedom are achieved, but water shear and drag increase, reducing efficiency in underwater applications
Solution Approach 1:
The patent extracts all active drive components (motors, electronics, linkages) from the underwater moving platform and relocates them to the above-water fixed structure, eliminating the sources of water shear and drag while maintaining robotic functionality through passive mechanical principles.
3Stability of the object's composition
If significant framing is used to support and operate the delta robot, then structural stability is maintained, but the system size increases, limiting mobility and space-constrained applications
Solution Approach 1:
The patent segments the system into a fixed support structure and a mobile platform, with only the essential platform and passive linkages being movable. This segmentation allows the heavy framing to remain stationary while minimizing the size and weight of the mobile components.
Solution Approach 2:
Instead of making the entire delta robot mobile with all components on the platform, the patent inverts the configuration by keeping the drive units and heavy framing fixed, and only moving the lightweight platform with passive linkages, thereby reducing overall system size while maintaining stability.
4Volume of moving object
If a compact configuration is used to reduce system size, then mobility is improved, but workspace accessibility is reduced
Solution Approach 1:
The patent extends the workspace in the vertical dimension by allowing the platform to move above and below the fixed structure, rather than being constrained to a horizontal plane. This vertical dimensionality change increases workspace accessibility without requiring a larger horizontal footprint.
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 system provides enhanced mobility and workspace accessibility, allowing for efficient operation in underwater and high-speed environments while maintaining structural integrity and precision, making it suitable for mobile and space-constrained applications.
Implementation Method 1
linear actuators, each linear actuator coupled to a respective rail of the rails and configured to translate along a longitudinal length of the respective rail
Data Source
AI summary
A linear delta system includes a support frame, rails mounted to the support frame, linear actuators, each linear actuator configured to translate along a longitudinal length of a respective rail, pairs of parallel rods each coupled to the linear actuators, a platform coupled to a longitudinal end of each of the pairs of parallel rods opposite the respective linear actuator, and an object coupled to the platform. Longitudinal axes of the rails are oriented parallel to each other and lie within a common plane or an uncommon plane. A method of forming a linear delta system includes mounting rails to a support frame, the rails having longitudinal axes that are parallel to each other and lying within a common plane, coupling a linear actuator to each of the rails, coupling a pair of parallel rods to each linear actuator, and coupling a platform to the pairs of parallel rods.