Parallel Robot Wrist Section with Inclined Attachment Surface
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing parallel robots with a single orientation changing axis face difficulties in mounting workpieces to inclined surfaces due to the occurrence of singular states, where the robot's movement to a target position and orientation cannot be unambiguously programmed.
Innovation Solution
A parallel robot with a wrist section having three degrees of freedom, featuring a first rotary member, a second rotary member, and a third rotary member with an attachment surface inclined at a predetermined angle, allowing for three-axis orientation-changing motion and preventing singular states by ensuring the attachment surface is not parallel to the rotation axes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single orientation changing axis is used in the movable section, then the robot structure is simplified, but the robot cannot perform tasks on inclined surfaces due to singular states occurring
Solution Approach 1:
The orientation changing function is segmented into three separate rotary members (first, second, and third rotary members) with different rotation axes, rather than using a single orientation axis. This segmentation allows independent control of orientation in multiple directions, enabling the robot to perform tasks on inclined surfaces without encountering singular states that limit adaptability.
2Ease of manufacture
If the attachment surface is parallel to the rotation axes, then the tool mounting is simplified, but singular states occur preventing unambiguous programming of robot movement
Solution Approach 1:
The attachment surface is designed to be inclined relative to the rotation axes of the rotary members, creating an asymmetric relationship. This inclination prevents the attachment surface from being parallel to any rotation axis, thereby eliminating singular states that would cause programming ambiguity, while still maintaining ease of tool mounting through the standardized wrist section design.
Data Source
AI summary
A parallel robot including a movable-section drive mechanism having a parallel mechanism configuration and operating to allow a movable section to perform a three-axis translational motion with respect to a base section, and a wrist-section drive mechanism operating to allow a wrist section to perform a three-axis orientation-changing motion with respect to the movable section. The wrist section includes a first rotary member supported on the movable section and rotatable about a fourth rotation axis different from axes of the three-axis translational motion of the movable section, a second rotary member connected to the first rotary member and rotatable about a fifth rotation axis orthogonal to the fourth rotation axis, and a third rotary member connected to the second rotary member and rotatable about a sixth rotation axis orthogonal to the fifth rotation axis. The third rotary member is provided with an attachment surface to which a tool is attached. The attachment surface is inclined with respect to the sixth rotation axis at a predetermined angle.