Transmission device with multiple degrees of freedom and robot
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Solution Overview
Problem
Existing parallel manipulators are limited to increasing output force and torque on only one spatial degree of freedom, restricting their use in grasping and moving workpieces in three-dimensional space.
Innovation Solution
A transmission device with multiple degrees of freedom, comprising first and second platforms, fixing platform, and branch chains, with transmission assemblies coupling the platforms to amplify or reduce force and torque on multiple degrees of freedom through parallel mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a reduction box or torque converter is used to increase output force and torque, then the output force and torque are increased, but the system is limited to only one spatial degree of freedom
Solution Approach 1:
The transmission system is divided into multiple independent transmission assemblies, each corresponding to a specific degree of freedom. Each transmission assembly includes its own transmission mechanism (such as gear mechanisms) that can independently amplify force and torque for its associated degree of freedom, allowing the system to operate effectively in three-dimensional space while maintaining force amplification capabilities across multiple axes
Solution Approach 2:
The parallel manipulator is designed with a universal transmission structure that can provide force and torque amplification across multiple degrees of freedom simultaneously. The transmission device is configured to work with all six degrees of freedom (three translational and three rotational), making it adaptable for various operations such as grasping, moving, and manipulating workpieces in three-dimensional space
2Ease of operation
If enough force and torque are loaded on the force receiving portion to complete grasping and moving operations, then the operations can be completed, but the use of the parallel manipulator is limited
Solution Approach 1:
The transmission device changes the force-torque parameters through mechanical advantage provided by gear mechanisms and other transmission elements. By adjusting the transmission ratio in each transmission assembly, the system can amplify or reduce force and torque as needed for different operations, enabling the parallel manipulator to handle a wider range of tasks with varying force requirements
Data Source
AI summary
A transmission device with multiple degrees of freedom includes a first platform, a second platform, a fixing platform, first branch chains, second branch chains and transmission assemblies. The first branch chains, the first platform (10) and the fixing platform form a first multiple degrees of freedom parallel mechanism having an output end. The second branch chains, the second platform and the fixing platform form a second multiple degrees of freedom parallel mechanism having an input end. A structure of the second branch chain is similar to a structure of the first branch chain, and a size of the second branch chain is enlarged or reduced in proportion to that of the first branch chain. The transmission assemblies are configured to couple the output end to the input end.