Parallel Link Mechanism for Coupled Drive and Gravity-Decoupled Reduction
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Solution Overview
Problem
Conventional link mechanisms cannot independently adjust horizontal and gravitational reduction ratios, limiting their ability to achieve both coupled drive and gravitationally decoupled reduction simultaneously.
Innovation Solution
A parallel link mechanism with movable bodies and linear motion means, including ball screw shafts and rotation devices, allows independent adjustment of horizontal and gravitational reduction ratios through differential mechanisms and coupled drive configurations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If conventional link mechanism uses three rotation devices to lift work object, then lifting force is improved, but independent adjustment of reduction ratios is lost
Solution Approach 1:
The mechanism segments the motion control into two independent systems: parallel link portions control vertical motion (gravitational direction) while arm portions control horizontal motion. This segmentation allows independent adjustment of reduction ratios in each direction while maintaining the force summation benefit of multiple rotation devices for lifting.
2Power
If conventional link mechanism uses coupled drive configuration, then force transmission efficiency is improved, but gravitationally decoupled reduction cannot be realized
Solution Approach 1:
The mechanism introduces dimensional separation by configuring parallel link portions vertically for gravitational direction control and arm portions horizontally for non-gravitational direction control. This spatial arrangement enables gravitationally decoupled reduction while preserving coupled drive's force transmission efficiency through the coordinated action of multiple rotation devices.
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
Simultaneously achieves gravitationally decoupled reduction and coupled drive, enhancing the end-effector's movement range and resistance to external forces while maintaining efficient force transmission.
Implementation Method 1
the linear motion means includes a first ball screw shaft and a second ball screw shaft parallel to the virtual line
Data Source
AI summary
Provided is a parallel link mechanism that realizes both coupled drive and gravitationally decoupled reduction. The parallel link mechanism 10A includes a first parallel link portion 47 (40, 41, 42) swingably connected at a base end to a second movable body 30, a second parallel link portion 48 (42, 43, 44) swingably connected at a base end to a tip end of the first parallel link portion 47, a first arm portion 45 rotatably connected at a base end to a first movable body 20 and rotatably connected at a tip end to the second parallel link portion 48 at an intermediate position, a second arm portion 46a rotatably connected at a base end to the second movable body 30 and rotatably connected at a tip end to the first arm portion 45 at an intermediate position, and linear motion units 60 and 70 capable of moving the movable bodies 20 and 30 up and down individually. The second parallel link portion 48 is swingably connected at a tip end to an end-effector 50.