Partitioned Robot Link Structure for Accurate Substrate Transfer
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Solution Overview
Problem
The links in horizontal articulated robots have a heavy weight due to housing components, requiring high rigidity to maintain positioning accuracy, particularly for motors housed within.
Innovation Solution
The links are partitioned into internal spaces to house components, increasing rigidity by dividing the internal space into container rooms for motors and transfer mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If components are housed in a link, then the link has a heavy total weight, but high rigidity is required to maintain positioning accuracy
Solution Approach 1:
The link's internal space is segmented into multiple container rooms using partitions. This allows components to be distributed across separate compartments rather than concentrated in one space, enabling the link to house necessary components while maintaining structural rigidity through the partitioned design.
2Manufacturing precision
If the link has high rigidity, then positioning accuracy of end effectors increases, but the link structure becomes more complex
Solution Approach 1:
The link is divided into multiple container rooms through internal partitions. This segmentation provides structural reinforcement that increases rigidity and positioning accuracy, while the modular partition design allows for systematic assembly and maintenance, balancing the increased structural complexity with manufacturing advantages.
Solution Approach 2:
Container rooms are nested within the link structure, with partitions creating internal compartments that fit within the overall link geometry. This nesting approach maximizes space utilization while maintaining the external link dimensions and structural integrity needed for high positioning accuracy.
3Quantity of substance
If the link houses motors, then the link weight increases significantly, but the link must maintain high rigidity
Solution Approach 1:
The link's internal space is divided into separate container rooms, with motors housed in dedicated compartments. This segmentation allows the link structure to be optimized for strength in critical areas while accommodating heavy motors in specific locations, distributing the weight load more effectively throughout the link structure.
Solution Approach 2:
Different regions of the link are designed with different structural qualities - areas requiring high rigidity are reinforced while motor housing areas are optimized for component accommodation. This local differentiation allows the link to maintain overall high rigidity while housing heavy motors without requiring uniform reinforcement throughout the entire structure.
Data Source
AI summary
A robot 100 includes: a base 1; an arm 3 coupled to the base 1 to be rotatable horizontally and formed by links 30 coupled to one another to be rotatable horizontally; and a hand 8 coupled to the arm 3 to be rotatable horizontally. A first link 31 that is at least one link of the links 30 has an internal space 40. The first link 31 has a partition 45 that partitions the internal space 40 into two container rooms each for housing a component, that is, a first container room 40A and a second container room 40B.