Parallel Link Robot Rotational Range via Peripheral Shafts
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Solution Overview
Problem
Existing parallel link robots have a limited range of rotational motion due to their complex structure, which is a result of independent mechanisms for translational and rotational motion.
Innovation Solution
A parallel link robot design that includes a fixation unit, movable section, first links, connection sections, second links, first shaft sections, third links, and second shaft sections, where the second shaft sections extend peripherally from the movable section, and the third links are connected to the second shaft sections, allowing for a larger range of rotational motion while maintaining a simple structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If a hexa-type parallel link structure with three sets of two arms connected via universal joints is used, then the structure is simple and has a wide range of translational motion, but the range of rotational motion of the movable plate is limited to about ±30°
Solution Approach 1:
The robot structure is divided into multiple independent linkages (first links, second links, third links) with distinct rotational functions. Each linkage handles specific rotational degrees of freedom, allowing the movable plate to achieve large rotational ranges without requiring a completely complex integrated structure. The segmentation of rotational and translational mechanisms enables independent optimization of each subsystem.
Solution Approach 2:
The invention introduces a new spatial arrangement where second shaft sections extend perpendicularly from the movable plate in addition to the traditional horizontal linkages. This vertical dimension allows the third links to connect above or below the movable plate, creating additional rotational pathways that expand the rotational range without increasing horizontal structural complexity.
2Adaptability or versatility
If independent mechanisms for translational motion and rotational motion are combined, then a large range of rotational motion is achieved, but the entire structure becomes complicated
Solution Approach 1:
The invention merges the translational and rotational mechanisms into a unified parallel linkage system where first links, second links, and third links work together as an integrated structure. The driving sources simultaneously control both translational and rotational motions through the coordinated movement of multiple linkages, eliminating the need for completely separate independent mechanisms and reducing overall structural complexity.
Solution Approach 2:
The parallel linkage structure serves multiple functions simultaneously: it provides both translational motion of the movable plate and rotational motion around multiple axes. The same set of links and shafts that enable translation also facilitate rotation, making the mechanism universal and avoiding the need for additional dedicated rotational components.
3Length of moving object
If second shaft sections extend peripherally outward from the movable section with third links connected to them, then the range of rotational motion is made large, but the peripheral configuration of the movable section increases in size
Solution Approach 1:
The third links are arranged to nest around the peripheral edges of the movable plate rather than extending far outward. The linkages are positioned to utilize the vertical space above and below the plate, allowing the second shaft sections to extend perpendicularly from the plate surface. This nesting arrangement minimizes the horizontal footprint while maintaining the rotational leverage needed for large rotational ranges.
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 design achieves a larger range of rotational motion with a simpler structure, reducing the number of components and eliminating interference, thereby enhancing the robot's operational flexibility and accuracy.
Implementation Method 1
the second shaft sections extending peripherally outward from the movable section
Implementation Method 2
connection sections rotatably connected to the plurality of first links
Implementation Method 3
plurality of first links connected to the plurality of driving sources
Data Source
AI summary
There is provided a parallel link robot that includes a movable section, a plurality of first links, a plurality of connection sections, a plurality of second links, a plurality of first shaft sections, a plurality of third links, a plurality of second shaft sections, and a fixation unit including a plurality of driving sources. The plurality of first links are connected to the plurality of driving sources. The plurality of connection sections are connected to the plurality of first links. The plurality of second links are connected to the plurality of first links via the plurality of connection sections. The plurality of first shaft sections are connected to the plurality of second links. The plurality of third links are connected to the plurality of second links via the plurality of first shaft sections, and to the movable section through the plurality of second shaft sections.