Parallel Robot Arm Layout for Rectangular 3D Workspaces
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Solution Overview
Problem
Industrial robots with parallel kinematics have a complex and expensive setup due to a large number of joints in their lower arms, leading to an overdetermined movement of the effector carrier in three dimensions and a circular working area, which limits their arrangement in close proximity without collision interference.
Innovation Solution
An industrial robot design with three actuating arms, where two arms are identical or similar, and the third arm is distinct, reducing the number of lower arm joints to at most five, ensuring translational movement in three dimensions without rotation, and allowing a rectangular working area by strategically positioning the joints to prevent effector carrier rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If three actuating arms with identical construction are used, then the effector carrier can be stabilized and movement in three dimensions is achieved, but the number of joints increases to 12, making the setup complex and expensive
Solution Approach 1:
The patent applies asymmetry by making the third actuating arm structurally different from the first two arms. While the first two arms each have two struts and four joints, the third arm has only one strut and two joints. This asymmetric design reduces the total joint count from 12 to 7, yet maintains the ability to stabilize the effector carrier and achieve three-dimensional translational movement.
2Adaptability or versatility
If three actuating arms with 12 joints are used, then complete three-dimensional movement control is achieved, but the working area becomes circular rather than rectangular
Solution Approach 1:
The asymmetric configuration of the third actuating arm with reduced joints enables a rectangular working area. The different structural arrangement allows the effector carrier to reach positions that form a rectangular envelope, optimizing space utilization for industrial applications while maintaining full three-dimensional translational control capability.
3Area of stationary object
If multiple industrial robots are arranged in close proximity, then space utilization is improved, but collision interference occurs with circular working areas
Solution Approach 1:
The rectangular working area enabled by the asymmetric arm configuration allows multiple robots to be arranged in a grid-like pattern with clearly defined boundaries. This reduces overlap and collision risk between adjacent robots' working spaces, enabling higher density deployment in industrial environments while maintaining safe operational zones.
4Manufacturing precision
If three actuating arms are used to prevent effector carrier rotation, then translational movement precision is improved, but the number of joints and complexity increase
Solution Approach 1:
The patent achieves precise translational movement without rotation by using an asymmetric configuration where the third arm's reduced joint count is compensated by its specific geometric arrangement. The strategic positioning of the third arm with two joints instead of four maintains the overdetermined system necessary for preventing effector carrier rotation, while reducing overall complexity.
Data Source
AI summary
An industrial robot with parallel kinematics includes a robot base, an effector carrier receiving an effector, a first actuating arm, a second actuating arm, and a third actuating arm, wherein each actuating arm is driven at one end and is received on the robot base and is movably connected with its other end to the effector carrier. The actuating arms are adapted to move the effector carrier translationally in three dimensions in space relative to the robot base. The first actuating arm and the second actuating arm are connected to the effector carrier via lower arm joints. All lower arm joints of the first and second actuator arms lie in an effector carrier plane. The effector carrier is secured against rotation about a z-axis perpendicular to the effector carrier plane by the third actuating arm.