Parallel Robot with Differential Mechanism for Workspace Optimization
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Solution Overview
Problem
Existing devices for object movement and positioning in space face challenges such as limited workspace, high encumbrance, complex mechanical design, and limited reconfigurability, which hinder their ability to adapt to demanding production requirements and interact effectively with other high-speed devices.
Innovation Solution
A device with a parallel architecture incorporating a differential mechanism allows for an ample workspace and high dynamic performance, featuring a base element with two motors and a third rotating motor, ensuring the third arm is always positioned between the other two, maintaining a sagittal plane operation and minimizing encumbrance, while enabling reconfiguration for various degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a parallel structure with three arms positioned at 120 degrees is used, then positioning precision and dynamic performance are improved, but workspace volume is reduced relative to overall dimensions
Solution Approach 1:
The patent employs a parallel structure with three arms positioned at 120 degrees to each other, creating a dynamically balanced system. This configuration allows the arms to move in a coordinated manner that maintains positioning precision while expanding the effective workspace volume relative to the overall device dimensions.
2Adaptability or versatility
If spherical pairs and passive joints are used in the mechanical design, then movement flexibility is improved, but device complexity and friction management become problematic
Solution Approach 1:
The patent utilizes spherical pairs and passive joints with carefully controlled rotational parameters. By managing the rotation angles and friction characteristics of these joints, the system achieves movement flexibility while keeping the complexity manageable through parameter optimization rather than structural simplification.
3Ease of manufacture
If the device is designed with fixed bar lengths, then structural simplicity is maintained, but reconfigurability and workspace adaptation are limited
Solution Approach 1:
The patent enables reconfigurability by allowing modification of bar lengths in the parallel structure. This dynamic adjustment capability permits the device to adapt its workspace and operational characteristics for different tasks while maintaining the overall simplicity of the parallel architecture during each configured state.
4Speed
If motors are mounted on a frame with low inertia, then acceleration and velocity are improved, but positioning errors may increase
Solution Approach 1:
The patent mounts motors on a frame with low inertia to achieve high acceleration and velocity, while the parallel structure with closed kinematic chains provides local stiffness and precision at the positioning points. This creates a system where different parts have optimized properties: the frame prioritizes speed while the parallel mechanism ensures accuracy.
Data Source
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AI summary
A device for the movement and positioning of an object in space comprising at least one base element (12), at least one movable element (30), at least three articulated composite arms (17, 117; 18, 118; 22, 122) assembled by means of joints which connect the at least one base element (12) and the at least one movable element (30) by means of further joints, at least three rotational actuators (13, 14, 19) each of which is operatively connected to activate one of the three arms (17, 117; 18, 118; 22, 122), wherein at least one differential (23), provided with at least two inputs (15 and 16) and at least one output (24) is arranged so as to operate between two of the above actuators (13, 14), the output (24) of the differential moving the motor (19) by means of a transmission (25) and the above arm (22, 122) by means of a support (26) rotatingly supported around an axis (20) with respect to the base element (12), the arm (22, 122) being arranged so as to oscillate in a plane orthogonal to a plane in which the first two arms (17, 117; 18, 118) oscillate.