Parallel Kinematic Tool Platform With Integrated Tilt and High Stiffness
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Solution Overview
Problem
Existing parallel kinematic machines (PKMs) face challenges in achieving high stiffness, large working range, and low weight, particularly when dealing with high tool forces and torques, as they often require bulky actuators and serial kinematics that reduce stiffness and increase weight.
Innovation Solution
A novel PKM design with dual platforms, where the tool platform is connected to a support platform via a shaft joint and tool linkages that rotate the tool base shaft, distributing forces efficiently and eliminating the need for actuators on the tool platform, thereby enhancing stiffness and reducing weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a separate wrist is mounted on the platform to obtain large tilting angles, then the tool can achieve large tilting angles, but the weight increases significantly and stiffness is reduced
Solution Approach 1:
The patent extracts the wrist function from a separate mounted component and integrates it into the parallel kinematic structure itself. The tool platform is directly tilted by the parallel kinematic mechanism rather than through a separate wrist, eliminating the need for additional tilting actuators on the platform and reducing overall weight while maintaining large tilting angle capability
Solution Approach 2:
The patent merges the wrist function with the parallel kinematic structure by designing the tool platform to be directly tilted by the parallel mechanism. This integration combines the positioning and orientation functions into a unified parallel kinematic system, eliminating the need for separate serial wrist components and reducing weight
2Adaptability or versatility
If a separate wrist is mounted on the platform to obtain large tilting angles, then the tool can achieve large tilting angles, but the stiffness is reduced due to serial kinematics connection
Solution Approach 1:
The patent removes the separate serial wrist component that would connect to the parallel kinematic structure. Instead, the tool platform is directly tilted by the parallel mechanism, extracting the wrist function from a separate component and maintaining pure parallel kinematics connection, which preserves stiffness
Solution Approach 2:
The patent merges the orientation function directly into the parallel kinematic structure, eliminating the need for a separate serial wrist. This integration ensures that the tool platform maintains a direct parallel kinematic connection to the base, preserving the high stiffness characteristics of parallel mechanisms
3Adaptability or versatility
If linear actuators are mounted in parallel kinematic links to tilt the platform, then the platform can be tilted, but the stiffness is too much reduced when tilting angles exceed +/â25 degrees
Solution Approach 1:
The patent designs the parallel kinematic mechanism to simultaneously achieve both positioning and orientation functions. The same parallel structure that positions the tool platform also provides the tilting capability through its kinematic geometry, eliminating the need for separate tilting actuators and maintaining stiffness across the full range of motion
Solution Approach 2:
The patent changes the kinematic parameters of the parallel mechanism to enable large tilting angles. By adjusting the geometric parameters and configuration of the parallel links, the system achieves tilting angles exceeding +/â25 degrees while maintaining structural stiffness through the parallel architecture
Data Source
AI summary
A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.