Parallel Mechanism Symmetrical Structure Stiffness Motion Range
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Solution Overview
Problem
Conventional robot joint systems face challenges in achieving high structural stiffness while maintaining an amplified motion range and efficient space utilization.
Innovation Solution
A parallel mechanism is designed with a symmetrical structure comprising first and second modules and a power transmission unit, where the first module's motion range is amplified, and a working space is formed to accommodate a driving wire, enhancing space utilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a parallel connection type structure is used, then structural stiffness is improved, but joint rotation space requirement increases
Solution Approach 1:
The parallel mechanism is divided into multiple independent modules (first module, second module, power transmission unit), each performing specific functions. This segmentation allows the mechanism to achieve high stiffness through parallel connection while reducing the joint rotation space requirement by distributing rotational movements across multiple modular components rather than requiring large single joint rotations.
2Length of moving object
If a series-connected structure is used, then motion range is improved, but structural stiffness deteriorates
Solution Approach 1:
The mechanism employs active rotational joints that can dynamically adjust rotation directions (first direction and second direction) to achieve amplified motion range while maintaining structural stiffness. The dynamic capability of the joints allows the parallel structure to compensate for limited individual joint rotations, providing both wide motion range and high stiffness simultaneously.
3Length of moving object
If motion range is amplified through symmetrical structure, then working space requirement increases
Solution Approach 1:
The first and second modules form a symmetrical nested structure around the power transmission unit, with hollows positioned to accommodate driving wires. This nested arrangement amplifies the motion range of the end effector while efficiently utilizing the available working space, as the hollows allow driving wires to pass through without occupying additional external space.
4Area of stationary object
If driving wires pass through hollows, then space utilization is improved, but wire constraint increases
Solution Approach 1:
The hollows in the first and second modules serve as intermediary pathways for the driving wires to pass through the mechanism. By providing dedicated hollow channels, the design achieves efficient space utilization while minimizing wire constraint, as the wires can move freely through the hollows without being blocked or constrained by external structural elements.
Data Source
AI summary
Provided is a parallel mechanism consisting of: a first module including a first plate having a first hollow formed therein; a second module disposed to be spaced apart from the first module, and including a second plate having a second hollow formed therein; and a power transmission unit provided in a space between the first and second modules, and including a third plate connecting the first and second modules in parallel, wherein the first and second modules form a symmetrical structure on the basis of the power transmission unit, a first range of motion in the first module is amplified, by means of the symmetrical structure, to a second range of motion that is wider than the first range of motion in the second module, a working space is formed in a space communicating with the first and second hollows, and the third plate is provided outside the working space.