Multi-Shaft Telescopic Linkage for Parallel Robot Workspace Expansion
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Solution Overview
Problem
Telescopic shafts in parallel kinematics robots limit the working area due to their fixed maximum and minimum lengths, restricting the distance the end effector can move from the base, as they typically have an extension factor of about two, which is insufficient for larger working areas.
Innovation Solution
A telescopic shaft with more than two shafts allowing mutual axial movements, along with constraining and balancing mechanisms, such as pulley-line or spring arrangements, to optimize the extension factor and minimize inertial loading and relative velocities, enabling greater flexibility and area coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If a telescopic shaft with no more than two shafts is used, then the structure is simple, but the extension factor is limited to about two, restricting the working area
Solution Approach 1:
The telescopic shaft is divided into multiple shafts (first shaft, second shaft, third shaft) that can move relative to each other in an axial direction. This segmentation allows the overall extension factor to be the product of individual shaft extensions, achieving an extension factor greater than two and expanding the working area of the parallel kinematics robot.
2Area of moving object
If additional shafts are added to increase the extension factor, then the working area increases, but the device complexity and inertial loading increase
Solution Approach 1:
The telescopic shaft employs a nested structure where the second shaft is positioned between the first and third shafts, allowing compact arrangement. This nesting minimizes the overall footprint and reduces inertial loading while still achieving the desired extension factor through the coordinated axial movements of the multiple shafts.
3Ease of operation
If the relative movements between shafts are not constrained, then the structure is flexible, but the maximum relative velocity and inertial loading increase
Solution Approach 1:
The telescopic shaft incorporates constraining means that dynamically control the relative movements between shafts. The constraining means predetermine the relationship between the first relative movement (between first and second shafts) and the second relative movement (between second and third shafts), optimizing the movement sequence to minimize maximum relative velocity and inertial loading while maintaining operational flexibility.
Data Source
AI summary
A telescopic shaft having a first shaft, a second shaft configured to enable a first relative movement in an axial direction between the first and second shafts, and a third shaft configured to enable a second relative movement in the axial direction between the second and third shafts, and a third relative movement in the axial direction between the first and third shafts. The second shaft is located between the first and third shafts. The telescopic shaft is configured to connect a base of a parallel kinematics robot to an end effector of the same for the purpose of transferring torque. By providing the telescopic shaft with more than two shafts with mutual relative movements between the same, an extension factor (the relation between the maximum and minimum lengths of the telescopic shaft) and by that the working area of the parallel kinematics robot can be increased.