Parallel Link Hub Initialization With Removable Positioning Member
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Solution Overview
Problem
Existing link actuating devices face challenges in achieving a wide operating range with high speed and accuracy while maintaining compact size, and they struggle with mechanical backlash and complex initialization processes, especially when end effectors or cables are present.
Innovation Solution
A link actuating device with a two-degrees-of-freedom parallel link mechanism, featuring three or more quadric chain link mechanisms, a posture control drive source, and a positioning member that allows for easy initialization and accurate positioning of the distal end side link hub, even in confined spaces with mounted end effectors or cables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the link length is increased to achieve a large operating range, then the operating range is improved, but the device size is increased and rigidity is reduced
Solution Approach 1:
The mechanism is divided into multiple link mechanisms (first, second, and third link mechanisms) that work in parallel. Each link mechanism has a relatively short link length, but their coordinated operation achieves a large overall operating range. This segmentation allows the system to maintain compact individual components while achieving extended functional range.
Solution Approach 2:
The invention transitions from a single-link mechanism to a multi-link parallel mechanism, adding spatial dimensionality to the system. By arranging multiple link mechanisms in parallel with different orientations and connection points, the system achieves extended operating range through spatial coordination rather than increasing individual link lengths.
2Adaptability or versatility
If the link length is increased to achieve a large operating range, then the operating range is improved, but the rigidity is reduced
Solution Approach 1:
The mechanism is divided into multiple link mechanisms (first, second, and third link mechanisms) that work in parallel. Each link mechanism has a relatively short link length, but their coordinated operation achieves a large overall operating range. This segmentation allows the system to maintain compact individual components while achieving extended functional range.
Solution Approach 2:
Multiple link mechanisms are merged into a parallel configuration where they work together to achieve the desired operating range. The combined system maintains high rigidity because each individual link remains short and stiff, while the parallel arrangement provides the extended range of motion through coordinated action of all links.
3Measurement precision
If the origin positioning member is provided to the proximal end side link hub and distal end side link hub, then the origin positioning accuracy is improved, but the initialization process becomes more complex when end effectors or cables are present
Solution Approach 1:
The origin positioning function is extracted from the link hubs and implemented through a separate positioning member that can be independently installed and adjusted. This positioning member includes a positioning pin and positioning hole configuration that can be engaged without removing end effectors or cables, simplifying the initialization process while maintaining positioning accuracy.
Solution Approach 2:
A positioning member acts as an intermediary between the link mechanisms and the origin positioning requirement. This positioning member provides a dedicated interface for accurate origin positioning that does not interfere with end effector or cable installation, allowing initialization to be performed independently of other system components.
Data Source
AI summary
In a link actuating device, a distal end side link hub is coupled to a proximal end side link hub via three or more link mechanisms. A posture control drive source configured to arbitrarily change the posture of the distal end side link hub is provided to each of two or more link mechanisms. The link actuating device includes a storage unit configured to store therein an operating position of the posture control drive source when the distal end side link hub is in a defined posture. In each of the two or more link mechanisms, a positioning portion is provided to at least one of the proximal side end link member, the distal side end link member, and the intermediate link member. A positioning member configured to position the distal end side link hub in the defined posture is dismountably mounted between a plurality of the positioning portions.