Parallel Link Mechanism for Compact High-Speed Work Machine
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Solution Overview
Problem
Existing parallel link mechanisms in medical and industrial equipment face challenges in achieving high-speed, high-accuracy operations with a wide operating range while maintaining compact size and low cost, often resulting in reduced rigidity and limited weight capacity due to large dimensions and increased size when trying to accommodate larger operating ranges.
Innovation Solution
A work apparatus with a parallel link mechanism that includes three or more link mechanisms coupling a distal end side link hub to a proximal end side link hub, featuring a position control actuator, a linear motion mechanism for orthogonal movement, and a rotating mechanism, allowing for two-degrees-of-freedom movement and compact design with four degrees of freedom, enabling high-speed, high-accuracy operations across a wide range while downsizing and reducing costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the link length is increased to achieve a large operating range, then the operating range is improved, but the dimensions of the entire mechanism are increased, leading to an increase in the size of the apparatus
Solution Approach 1:
The patent applies spherical link centers and three-dimensional spatial arrangement of link mechanisms to achieve a wide operating range without increasing the horizontal footprint of the apparatus. The distal end side link hub can move in multiple directions in 3D space while the base remains compact.
Solution Approach 2:
The patent integrates multiple link mechanisms with shared link centers, where link members are arranged to overlap and share space. The three link mechanisms share common proximal and distal link centers, creating a nested configuration that reduces the overall apparatus size.
2Adaptability or versatility
If the link length is increased to achieve a large operating range, then the operating range is improved, but the rigidity of the entire mechanism is reduced, limiting the weight capacity
Solution Approach 1:
The patent uses multiple link mechanisms (three or more) that share common link centers, creating a redundant parallel structure. This nested arrangement provides multiple load paths from the distal end to the proximal end, distributing the weight load across multiple members and maintaining high rigidity and weight capacity.
Solution Approach 2:
The patent divides the mechanism into multiple independent link mechanisms (first, second, third link mechanisms) that work in parallel. Each link mechanism can independently support load, and their combined effect provides both wide operating range and high weight capacity through distributed structural support.
3Speed
If a parallel link mechanism is used to achieve compact size and high-speed operation, then the apparatus size is reduced and operation speed is improved, but the size of the entire apparatus is increased when combined with other mechanisms
Solution Approach 1:
The patent integrates multiple functions into the parallel link mechanism itself. The mechanism provides positioning, orientation, and support functions through the coordinated movement of the distal end side link hub, eliminating the need for separate mechanisms and reducing overall apparatus size.
Solution Approach 2:
The patent combines multiple link mechanisms with shared link centers into a single integrated parallel link mechanism. The proximal and distal link centers serve as common reference points for all link mechanisms, merging their functions into one compact unit that maintains high speed operation without increasing apparatus size.
Data Source
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AI summary
A work apparatus includes a parallel link mechanism, a position control actuator, a linear motion mechanism, and a rotating mechanism. The parallel link mechanism includes three or more link mechanisms that couple a distal end side link hub to a proximal end side link hub such that a position of the distal end side link hub can be changed relative to the proximal end side link hub. The position control actuator operates the parallel link mechanism. The linear motion mechanism moves a working body in an axial direction orthogonal to a central axis of the proximal end side link hub. The rotating mechanism is mounted on the distal end side link hub and rotates a work object about a rotation center axis parallel to a movement direction of the linear motion mechanism when the central axis and a central axis are on the same line.