Parallel Kinematics Robot Gimbal Orientation
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Solution Overview
Problem
Delta robots used in industrial processes face limitations in handling heavier objects due to lightweight materials, which restrict their load-bearing capacity and require frequent maintenance, and have limited range of motion and mechanical amplification, making them unsuitable for robust and continuous production cycles, especially in environments requiring easy cleaning.
Innovation Solution
A parallel kinematics mechanism with a ring structure and pivot sleeve that maintains the end effector in a fixed orientation, allowing for three degrees of freedom and extended range of motion, while using robust components to enhance load-bearing capacity and reduce maintenance needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If light-weight materials are used in delta robot construction to achieve high speed and low inertia, then speed and acceleration are improved, but load-bearing capacity deteriorates
Solution Approach 1:
The robot system is divided into two distinct parts: a lightweight delta robot for high-speed positioning and a separate robotic arm for load-bearing operations. This segmentation allows each component to be optimized for its specific function without compromise.
Solution Approach 2:
A transfer mechanism acts as an intermediary between the delta robot and the load-bearing robotic arm. The delta robot positions objects within its workspace, then transfers them to the robotic arm which handles heavier load-bearing requirements. This intermediary system resolves the contradiction by separating the speed function from the strength function.
2Strength
If robust parts and components are used to increase load-bearing capacity, then strength is improved, but speed deteriorates due to higher mass inertia
Solution Approach 1:
The system segments the robotic functions into a lightweight delta robot for high-speed operations and a separate robust robotic arm for load-bearing tasks. This avoids the need for a single robot to simultaneously achieve both high speed and high strength, which would require heavy components.
Solution Approach 2:
The combined system achieves multi-functionality by integrating two robotic systems with complementary capabilities. The delta robot provides high-speed positioning while the robotic arm provides load-bearing capacity, creating a universal system that can handle both lightweight high-speed tasks and heavier load-bearing tasks.
3Productivity
If delta robots are designed for high speed pick-and-place operations, then productivity is improved, but range of motion deteriorates
Solution Approach 1:
The system extends the functional range by adding a second robotic arm that operates in a different dimensional space. While the delta robot is constrained to its optimized workspace for high-speed operations, the additional robotic arm provides extended reach and different motion dimensions, allowing the system to access areas beyond the delta robot's primary workspace without compromising its high-speed performance.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution enables the robot to handle heavier objects with improved range of motion and reduced maintenance needs, enhancing its usability in industrial applications like pick-and-place operations and ensuring easier cleaning, thus overcoming the limitations of traditional delta robots.
Implementation Method 1
A pivot sleeve is suspended within the stationary base plate and may pivot on two perpendicular axes of an intermediate gimbal
Data Source
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.