Spatial-Link Manipulator Segmentation for Trajectory Precision
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Solution Overview
Problem
Conventional dual-drive linkage type manipulators in the electronic industry face challenges in motion consistency and trajectory precision due to the restrictive steel band, which couples the travel trajectories of the two manipulators working on the same plane.
Innovation Solution
A spatial-link-type manipulator with a single-degree-of-freedom, linear-translation structure is developed, comprising a drive device, links, and rotating shafts forming primary and secondary motion chains, allowing for independent rectilinear motion of the terminal component without requiring both manipulators to work on the same plane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If two manipulators cooperatively work on the same plane with dual drive, then the manipulator can perform complex operations, but the motion consistency and trajectory precision are affected due to coupling and restriction by steel band
Solution Approach 1:
The manipulator system is divided into two independent single-degree-of-freedom manipulators instead of one dual-drive manipulator. Each manipulator has its own drive device and operates independently, eliminating the coupling and steel band restrictions that previously affected motion consistency and trajectory precision.
Solution Approach 2:
The two manipulators are positioned at different spatial locations and operate in different planes rather than being constrained to the same plane. This spatial separation allows independent motion without steel band coupling, while still enabling complex operations through coordinated action between the two manipulators.
2Device complexity
If two manipulators are restricted by one steel band during motion, then the structure is compact, but the consistency of motion and travel trajectory precision is affected
Solution Approach 1:
The single steel band coupling is segmented into two separate drive systems, with each manipulator having its own independent drive device. This eliminates the motion consistency issues caused by shared steel band constraints while maintaining structural efficiency through optimized individual manipulator designs.
3Adaptability or versatility
If dual drive system is used, then the manipulator can achieve complex motion, but the travel trajectory precision is restricted by steel band coupling
Solution Approach 1:
The dual drive system is segmented into two independent single-degree-of-freedom manipulators, each with independent driving and control. This segmentation eliminates the steel band coupling that restricted trajectory precision, while the coordinated operation of both manipulators maintains the capability to achieve complex motions.
Data Source
AI summary
A spatial-link-type manipulator, comprising a drive device (10), links and rotating shafts connected between the links; the drive device comprises a connecting shaft (13); the connecting shaft comprises an outer wall (131) and an inner wall (133); each link comprises a large boom (20), a small boom (30), an oblique large boom (60), an oblique small boom (50) and a terminal component (40); the large boom and the oblique large boom are respectively a straight link; the small boom and the oblique small boom are respectively a bent link; the large boom, the small boom and one end of the terminal component form a primary motion chain; the oblique large boom, the oblique small boom and the other end of the terminal component form a secondary motion chain; the drive device drives the large boom to move around a rotating shaft A so as to drive the primary motion chain, and drives the secondary motion chain via the terminal component so as to realize rectilinear motion of the terminal component. The present invention has a simple structure and is easy to realize.