Parallel-Kinematics Robot Drive Shaft Segmentation
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Solution Overview
Problem
Current parallel kinematic robots face limitations in achieving high performance and short cycle times due to the large diameter of internal cardan shafts required for torque transmission, which increases mass and complexity, while also restricting the dimensions of cardan shafts to keep masses low.
Innovation Solution
A parallel kinematics robot design featuring two separate drive shafts with a large twisting angle between the base and the manipulator, eliminating the need for hollow shaft constructions and allowing for more compact and lightweight components, with each shaft providing mechanical rotary drive connections for rotation and actuation tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a single internal cardan shaft is used for torque transmission between base and manipulator, then rotation capability is achieved, but shaft diameter must be large which increases mass and complexity
Solution Approach 1:
The patent divides the single internal cardan shaft into two separate drive shafts. Each shaft can be optimized independently for its specific function, allowing both shafts to have smaller diameters compared to a single shaft that would need to handle all torque transmission. This segmentation reduces the mass and complexity of the overall drive system.
Solution Approach 2:
The patent introduces a large twisting angle (angular offset) between the two separate drive shafts, allowing them to be arranged in different spatial dimensions. This dimensional separation enables each shaft to be optimized for its specific rotational task without interfering with the other, reducing the need for a large-diameter hollow shaft construction.
2Weight of moving object
If shaft diameter is reduced to lower mass, then weight decreases, but rotation angle capability is restricted
Solution Approach 1:
By segmenting the rotational capability into two separate shafts, each shaft can be designed with optimal dimensions for its specific rotational task. The first shaft handles rotation around one axis while the second shaft handles rotation around another axis, allowing both shafts to maintain smaller diameters while collectively providing comprehensive rotation angle capability.
Solution Approach 2:
The two separate drive shafts together provide multi-functional rotational capability. The first shaft enables rotation of the manipulator, while the second shaft enables rotation of the tool holder or tool carrier. This multi-functionality is achieved with smaller shaft dimensions than would be required for a single universal shaft.
Data Source
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Figure 3A~3B
AI summary
The invention relates to a parallel-kinematics robot (10) comprising: a suspension element (18) or base, to which at least two separately driven and independently movable actuating arms (20) are hingedly fastened or mounted, each arm being formed by an upper arm (22), which can be moved by means of a drive (52), and a lower arm (24) hingedly mounted on said upper arm; and a manipulator (16), which is hingedly mounted on the lower arms (24) of the at least two actuating arms (20) and which can be moved within a definable motion range (30) by means of movements of the actuating arms (20). The manipulator (16) has a section (36) that can be rotated in relation to the suspension element (18) or base, or in relation to the actuating arms (20), by means of a first mechanical rotation-transmission element. A movable actuating element (44) is associated with the rotatable section (36) of the manipulator (16), the actuating movements of which element are controllable by a second mechanical rotation-transmission element. The rotation-transmission elements provide mechanical rotational connections between separate actuating drives, associated with the suspension element, and the manipulator (16) or rotatable section (36) and/or movable actuating elements (44) of said manipulator. In addition, the rotation-transmission elements are formed by separate shafts (40, 46) positioned at a distance from one another. The invention further relates to a method for manipulating a parallel-kinematics robot (10) of this type.