Parallel Kinematic Robot Gear Unit Segmentation
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Solution Overview
Problem
Existing parallel kinematic robots face challenges with high torque and weight distribution issues, particularly when handling heavier payloads, due to the concentration of motor and gearbox components in the movable platform, which increases the load on telescopic shafts and universal joints.
Innovation Solution
The design distributes the weight of the gear unit by locating one gearbox in the base unit and the other in the movable platform, connected by an articulated transmission member, allowing for a larger gear ratio and reduced torque on the transmission member, while also enabling additional auxiliary axes for tool rotation and tilting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the motor and gearbox are located in the movable platform, then the robot can achieve tool rotation, but the weight of the movable platform increases
Solution Approach 1:
The gear unit is divided into two separate gearboxes: a first gearbox located in the base unit and a second gearbox located in the movable platform. This segmentation distributes the weight of the gear unit between the stationary base and the moving platform, reducing the overall weight of the movable platform while maintaining the tool rotation capability through the distributed gear transmission system.
2Weight of moving object
If all gearboxes are located in the base unit, then the movable platform weight is reduced, but the torque on the transmission member increases
Solution Approach 1:
The gear unit is segmented into two gearboxes positioned at different locations. The first gearbox in the base unit and the second gearbox in the movable platform work together to distribute the torque load. This segmentation reduces the torque demand on the transmission member connecting the two gearboxes, as the gear reduction is distributed across both gearboxes rather than concentrated in one location.
3Adaptability or versatility
If the gear unit weight is concentrated in the movable platform, then tool rotation is enabled, but the load on telescopic shafts and universal joints increases
Solution Approach 1:
The gear unit is divided and distributed between the base unit and the movable platform. This segmentation reduces the weight concentration in the movable platform, thereby reducing the gravitational and operational loads on the telescopic shafts and universal joints that connect the platform to the base, while still enabling tool rotation through the distributed gear system.
4Device complexity
If a single gearbox is used in the movable platform, then the structure is simple, but the gear ratio is limited and torque requirements are high
Solution Approach 1:
The gear transmission system is segmented into two gearboxes working in series. This segmentation enables a larger total gear ratio to be achieved by combining the reduction ratios of both gearboxes, thereby increasing the torque capability at the tool holder while distributing the mechanical complexity across two manageable units rather than requiring one large complex gearbox.
Data Source
AI summary
A parallel kinematic robot including a base unit, a platform movable in relation to the base unit about a plurality of main axes, two independently movable actuating arms connected between the base unit and the movable platform for moving the platform in relation the base unit, a tool holder rotatably connected to the platform to allow rotation of the tool holder in relation to the platform about a first auxiliary axis, a motor for driving the first auxiliary axis, located in the base unit, and a gear unit. The gear unit includes a first gearbox located in the base unit and a second gearbox located in the platform.