Parallel Link Robot Asymmetric Angular Intervals
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Solution Overview
Problem
Existing parallel link robots face challenges in minimizing their width and maintaining balance of load between link mechanisms while maintaining the capability to transfer objects efficiently, as they often require equal angular intervals which lead to increased size and occupation space.
Innovation Solution
The parallel link robot system arranges link mechanisms at varying angular intervals, including 120°, larger, and smaller angles, optimizing the placement of actuators to reduce width and occupation space while maintaining load balance, with a variable angle that aligns link and base dimensions to minimize size and interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If link mechanisms are arranged at equal angular intervals (120° each), then the robot maintains balanced load distribution, but the width and occupation space increase
Solution Approach 1:
The patent applies asymmetry by arranging the three link mechanisms at unequal angular intervals (first interval different from second and third intervals). This asymmetric configuration reduces the overall width and occupation space of the robot base while maintaining functional performance, directly resolving the contradiction between balanced load distribution and minimized space occupation.
2Area of stationary object
If link mechanisms are arranged at unequal angular intervals, then the width and occupation space are reduced, but load balance between link mechanisms deteriorates
Solution Approach 1:
The patent applies local quality by making the second and third angular intervals equal to each other while different from the first interval. This specific local symmetry in the angular distribution allows the robot to maintain adequate load balance on the affected link mechanisms while achieving reduced overall width and occupation space through the unequal first interval.
3Area of stationary object
If the robot width is minimized through optimized angular intervals, then space occupation is reduced, but the capability to transfer objects efficiently may be compromised
Solution Approach 1:
The patent applies parameter changes by optimizing the specific values of angular intervals (making the first interval different from the equal second and third intervals) to achieve a balance between minimized occupation space and maintained object transfer capability. This parameter optimization allows efficient space utilization while preserving the robot's functional performance for object manipulation.
Data Source
AI summary
A parallel link robot includes a base, a movable part, link mechanisms, and actuators. The movable part is movable along a center axis. The first, second and third link mechanisms are provided around the center axis with angular intervals in a circumferential direction around the center axis to project outwardly along a radial direction with respect to the center axis. Each of the first, second and third link mechanisms connects the base and the movable part to move the movable part along the center axis. The angular intervals have an acute angular interval with an acute angle. The first, second and third actuators are provided at the base to be connected to the first, second and third link mechanisms respectively so as to drive the first, second and third link mechanisms respectively.