6-Axis Positioning Layout With Nested Actuators for Heavy Loads
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Solution Overview
Problem
Existing 6-axis positioning systems face challenges in achieving a compact, flatter design with extended working space, particularly for heavy-load applications, as they often require a balance between precise positioning and load support, which limits their versatility and efficiency.
Innovation Solution
The system divides six actuators into two groups, with the first group configured for higher load capacity and shorter length, and the second group for longer length and more lifting force, allowing for a division of work that results in a more compact and flatter design with extended working space. Each group is connected via pivot fastening systems with multiple axes, enabling precise adjustment and positioning, and the actuators can be arranged in a triangular configuration to optimize space and load distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If the actuators are arranged in a conventional configuration, then the positioning accuracy is maintained, but the working space is limited and the design is not compact
Solution Approach 1:
The six actuators are divided into two functional groups: three outer actuators (first group) and three inner actuators (second group). This segmentation allows each group to be optimized for different functions - the outer actuators primarily support load while the inner actuators provide lifting force, enabling a more compact arrangement with extended working space.
Solution Approach 2:
The actuators are arranged in a triangular configuration on both the base and movable unit, utilizing two-dimensional spatial optimization. The outer actuators are positioned at the vertices of an outer triangle while inner actuators are positioned at the vertices of an inner triangle, creating a compact layered structure that maximizes working space within a reduced volume.
2Force
If the actuators are made longer to provide more lifting force, then the load capacity is improved, but the system height increases and compactness is reduced
Solution Approach 1:
Different regions of the system are assigned different actuator types with optimized lengths. The outer actuators are configured with a first length optimized for load support, while the inner actuators are configured with a second length optimized for lifting force. This local differentiation allows the system to achieve high load capacity and lifting force without requiring all actuators to be excessively long, thereby maintaining compactness.
3Adaptability or versatility
If the actuators are arranged to maximize working space, then the positioning versatility is improved, but the system becomes taller and less compact
Solution Approach 1:
The inner actuators are positioned within the triangular region bounded by the outer actuators, creating a nested configuration. The connection points of the inner actuators on the base and movable unit are located within the area enclosed by the outer actuator connections. This nesting arrangement maximizes positioning versatility by enabling independent control of outer and inner actuators while maintaining a compact overall height.
4Manufacturing precision
If the pivot fastening systems are configured for precise adjustment, then the positioning precision is improved, but the device complexity increases
Solution Approach 1:
The pivot fastening systems are designed with multi-axis pivot capabilities that serve multiple functions: they enable precise angular adjustment of the actuators, accommodate the triangular arrangement geometry, and provide stable load transfer paths. By designing the pivot fastening systems to handle multiple requirements simultaneously, the need for separate adjustment mechanisms is eliminated, thereby maintaining positioning precision without proportionally increasing device complexity.
Data Source
AI summary
A 6-axis positioning system features a base, a movable unit, and six variable-length actuators divided into two groups of three actuators each. The actuators of the first group are positioned within a region bounded by the second group on both the base and the movable unit. Each end of the actuators is connected via pivot fastening systems, allowing precise movement. Specifically, the first group's actuators can move within an angular range of ±30° relative to a virtual line running perpendicular from the base, while the second group's actuators can move within an angular range of 0° to 45° relative to a plane spanned by the base. This arrangement ensures a compact, precise, and flexible positioning system, ideal for applications requiring high accuracy and load-bearing capacity.