Parallel Kinematic Manipulator Nested Actuator Footprint
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Solution Overview
Problem
Traditional parallel kinematic manipulators, such as the Scara Tau, face challenges in achieving a compact design with a small footprint while maintaining a large workspace, leading to increased vertical space requirements and weight due to the need for a large mounting column and actuation system, which is problematic when used over conveyors.
Innovation Solution
The design incorporates a hollow part connected to the third inner arm part with a support member that rigidly supports at least one actuator, allowing for high mechanical stiffness and a compact actuator configuration, enabling a smaller footprint and easier installation, maintenance, and cleaning by allowing the robot arms and platform to be moved outside the workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a traditional parallel kinematic manipulator uses a large mounting column to support the actuation system, then the mechanical stiffness and load capacity are improved, but the footprint and vertical space requirements increase
Solution Approach 1:
The actuation system is nested within the hollow part of the third inner arm part, with the support member extending through the hollow part to provide structural support. This nesting approach allows the manipulator to achieve high mechanical stiffness without requiring a large external mounting column, thereby reducing the footprint while maintaining structural integrity
Solution Approach 2:
The invention moves the actuation system from a traditional horizontal mounting configuration to a vertical configuration along the support member. This dimensional change allows the actuators to be arranged vertically within the hollow part, reducing the horizontal footprint while maintaining the required mechanical stiffness through the vertical support structure
2Stability of the object's composition
If the actuation system is mounted on a large column, then the mechanical stability is improved, but the weight of the manipulator increases
Solution Approach 1:
The support member is integrated within the hollow part of the third inner arm part, creating a nested structure that provides mechanical stability without adding significant weight. The hollow part acts as both a structural element and a housing for the actuation system, eliminating the need for a separate heavy mounting column
Solution Approach 2:
The hollow part serves multiple functions: it provides structural support, houses the actuation system, and acts as a guide for the support member. This multi-functionality reduces the overall weight by eliminating redundant structural elements while maintaining mechanical stability
3Area of stationary object
If the robot is designed with a compact footprint, then the manipulator density is improved, but the workspace size may be reduced
Solution Approach 1:
The invention achieves a compact footprint by arranging the actuation system vertically along the support member rather than horizontally. This dimensional reorganization allows the manipulator to maintain a small horizontal footprint while preserving the workspace size through the vertical arrangement of mechanical components
4Ease of repair
If the actuation system is mounted on an external column, then the accessibility for maintenance is improved, but the footprint and vertical space requirements increase
Solution Approach 1:
The actuation system is nested within the hollow part of the third inner arm part, which provides easy accessibility for maintenance while maintaining a compact footprint. The hollow part serves as a built-in housing that allows technicians to access and maintain the actuators without requiring external mounting structures
Data Source
AI summary
An industrial robot including a manipulator for movement of an object in space. The manipulator includes a movable platform arranged for carrying the object, a first arm arranged for influencing the platform in a first direction and including a first inner arm part rotatable about a first axis, a second arm arranged for influencing the platform in a second direction and including a second inner arm part rotatable about a second axis, a third arm arranged for influencing the platform in a third direction and including a third inner arm part rotatable about a third axis.