Link Actuation Device With Flexible Wire Transmission
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Solution Overview
Problem
Existing link actuating devices for parallel mechanisms are bulky due to increased inertia moment when a servomotor is mounted on the movable part, making them difficult to handle and manipulate precisely, especially in applications like medical equipment.
Innovation Solution
A two-degree-of-freedom link actuating device with a movable part that uses three or more sets of link mechanisms and a flexible wire to transmit rotational force, allowing for large movement range and precise positioning without the need for a drive source on the movable section, reducing weight and inertia moment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If a servomotor is mounted on the movable part of the parallel link mechanism, then the drive source can supply motive power to the tool, but the weight of the movable part increases and the inertia moment increases, making the device bulky and difficult to handle precisely
Solution Approach 1:
The drive source (servomotor) is extracted from the movable part and relocated to the base. The flexible wire transmits rotational force from the base to the movable part, enabling the movable part to be lightweight while still receiving the necessary driving force for actuation.
Solution Approach 2:
A flexible wire is introduced as an intermediary element to transmit rotational force from the drive source at the base to the movable part. This mediator allows separation of the heavy drive source from the lightweight movable component while maintaining functional connection.
2Weight of moving object
If the weight of the movable part is reduced to make the device lightweight and easy to handle, then the device becomes more maneuverable, but the drive source must be relocated and a new transmission mechanism is required
Solution Approach 1:
A flexible wire (flexible transmission element) is used to transmit rotational force from the base to the movable part. This flexible transmission mechanism is simpler and more adaptable than rigid mechanical connections, enabling weight reduction without significantly increasing device complexity.
3Weight of moving object
If the drive source is relocated to the base, then the movable part becomes lightweight, but the transmission of rotational force to the movable part requires a flexible wire and additional mechanism
Solution Approach 1:
The flexible wire serves as an intermediary transmission element that connects the drive source at the base to the movable part. This approach adds minimal complexity while achieving the goal of weight reduction and improved maneuverability.
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 device achieves lightweight, compact, and precise movement with reduced inertia moment, enabling easier handling and higher positioning accuracy, suitable for medical equipment and remote-controlled robots.
Implementation Method 1
a flexible wire passed inside an arrangement of the three or more sets of the link mechanisms and having a flexibility and operable to transmit a rotational force
Data Source
AI summary
An output member is connected with an input member through three sets of link mechanisms for alteration in attitude. The link mechanism includes end portion link mechanisms on an input side and an output side, respectively, and an intermediate link member. The link mechanism is such that a geometric model of each of the link members expressed by lines represents such a shape as an input side portion and an output side portion relative to a center of the intermediate link member are symmetrical with each other. By actuating two or more sets of the link mechanisms by means of a link mechanism drive source, the attitude of the output member is controlled. Through the inside of an arrangement of the link mechanisms, a flexible wire is provided for transmitting a rotational force in a direction of arrangement of the input and output members.