Parallel Kinematics Robot with Gimbal Linkage for Heavy Load Handling
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Solution Overview
Problem
Delta robots used in industrial processes face limitations in handling heavier objects due to their lightweight construction, which restricts load-bearing capacity and requires frequent maintenance, and have limited range of motion and mechanical amplification, making them unsuitable for robust and continuous production cycles.
Innovation Solution
An industrial robot with a parallel kinematics mechanism that maintains a ring structure in a fixed orientation, utilizing a pivot sleeve and elongate boom with gimbal rings and control linkages to provide three degrees of freedom and maintain the end effector parallel to the ring structure, allowing for enhanced range of motion and load-bearing capacity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If light-weight materials are used in the construction of delta robots to minimize mass inertia and achieve high speed, then speed and acceleration are improved, but load-bearing capacity deteriorates and the robot can only handle light objects
Solution Approach 1:
The robot system is divided into two functional parts: a lightweight delta robot for high-speed positioning and a separate robotic arm for load handling. The delta robot's arms are made of light composite materials to minimize inertia, while a robust robotic arm with higher mass inertia is attached to the end effector for gripping heavier objects. This segmentation allows each component to be optimized for its specific function without compromise.
2Force
If robust parts and components are used to increase load-bearing capacity for heavier objects, then load-bearing capacity is improved, but mass inertia increases and speed deteriorates
Solution Approach 1:
The robot system is divided into two functional parts: a lightweight delta robot for high-speed positioning and a separate robotic arm for load handling. The delta robot's arms are made of light composite materials to minimize inertia, while a robust robotic arm with higher mass inertia is attached to the end effector for gripping heavier objects. This segmentation allows each component to be optimized for its specific function without compromise.
3Adaptability or versatility
If the end effector is moved to different positions in three-dimensional space using traditional delta robot design, then range of motion is achieved, but the end effector rotates and loses fixed orientation relative to the base plate
Solution Approach 1:
A ring structure acts as an intermediary between the delta robot's end effector and the base plate. The ring structure is coupled to the end effector and extends through the base plate, with its axis aligned to the base plate's axis. This intermediary component maintains the fixed orientation relationship while allowing the end effector to move through three-dimensional space, preventing unwanted rotation.
Data Source
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AI summary
An industrial robot includes a parallel kinematics mechanism that provides three degrees of freedom to a ring structure while maintaining the ring structure substantially in a fixed orientation relative to a reference plane established by a stationary base plate. A pivot sleeve is suspended within the stationary base plate and may pivot on two perpendicular axes of an intermediate gimbal. An elongate boom is mounted within the pivot sleeve and extends from an upper end through the pivot sleeve to a lower end. An end effector is mounted at the lower end of the elongate boom and is arranged for carrying a work element. Gimbal rings are located at the upper and lower ends of the elongate boom and are interconnected by a control linkage to maintain the end effector substantially parallel to the ring structure during movement of the end effector through a three-dimensional work envelope.