Link actuating device, and origin positioning method
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Solution Overview
Problem
Existing spherical surface link mechanisms face limitations in rigidity, interference, and cable protection, which affect positioning accuracy and operational smoothness, while also being costly to manufacture.
Innovation Solution
The introduction of intermediate link hubs and bearings in the spherical surface link mechanism, which improve rigidity, reduce friction, and facilitate cable insertion, while allowing for easier installation of driving sources and reducing manufacturing costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If intermediate link hubs and bearings are introduced to improve rigidity and reduce friction, then positioning accuracy and operational smoothness are enhanced, but device complexity increases
Solution Approach 1:
The link mechanism is divided into multiple segments with intermediate link hubs inserted between the proximal and distal end link hubs. These intermediate hubs create additional rotation points that improve the rigidity of the overall structure while maintaining spherical surface movement characteristics.
Solution Approach 2:
Bearings are introduced as intermediary components between the link members and intermediate link hubs to reduce friction. These bearings act as mediators that enable smooth rotation while supporting the increased structural rigidity provided by the intermediate hubs.
2Object-affected harmful factors
If intermediate link hubs are added to suppress cable deflection and interference, then cable protection is improved, but manufacturing cost increases
Solution Approach 1:
By segmenting the link mechanism with intermediate hubs, the cable path is better controlled and guided through the additional rotation points. This segmentation prevents cable deflection and interference while the modular design allows for standardized manufacturing of the hub components.
Solution Approach 2:
The intermediate link hubs and bearings work together to automatically guide and protect the cable throughout the range of motion. The structural rigidity provided by the intermediate hubs naturally suppresses cable deflection without requiring additional active control mechanisms, making the system self-protecting.
3Ease of operation
If bearings are introduced to reduce friction, then operational smoothness is enhanced, but device complexity increases
Solution Approach 1:
Bearings are introduced as intermediary components between the link members and intermediate link hubs to reduce friction. These bearings act as mediators that enable smooth rotation while supporting the increased structural rigidity provided by the intermediate hubs.
Solution Approach 2:
The introduction of bearings changes the friction parameter of the rotation joints from high to low. This parameter change enables smooth operation throughout the spherical surface movement, transforming the operational characteristics of the entire mechanism.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The improved rigidity and reduced friction enhance positioning accuracy and operational smoothness, while also lowering manufacturing costs and suppressing cable deflection and interference.
Implementation Method 1
The spherical surface link mechanism includes a proximal end link hub, a distal end link hub, a plurality of links, a plurality of intermediate link hubs, and a bearing. The bearing reduces friction between rotating components, enabling smooth rotation and movement.
Data Source
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AI summary
A link actuating device comprises: a spherical surface link mechanism; and an origin positioning member, wherein the spherical surface link mechanism includes a proximal end link hub, a distal end link hub, a plurality of links, and a plurality of intermediate link hubs, each of the plurality of links includes a first end link member, a second end link member, and an intermediate link member, the first end link member is coupled, at one end of the first end link member, to the proximal end link hub to be rotatable about a first rotation axis, the second end link member is coupled, at one end of the second end link member, to the distal end link hub to be rotatable about a second rotation axis, the intermediate link member is coupled, at one end of the intermediate link member, to another end of the first end link member to be rotatable about a third rotation axis and is coupled, at another end of the intermediate link member, to another end of the second end link member about a fourth rotation axis