Spherical Coordinate Mechanism With Synchronous Arc-Link Rotation
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Solution Overview
Problem
Existing spherical concentric mechanisms face challenges in operating smoothly without mutual interference and singularity, particularly in regulating geometric limitations and preventing vibrations and deformations.
Innovation Solution
The mechanism incorporates a base frame set, terminal frame set, three arc-link sets, base driver sets, and terminal driver sets with transmission belts, pulleys, and spur gears to enable synchronous rotation, and classifies orbit sequences based on radius relationships to avoid geometric interference and enhance rigidity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If spherical concentric mechanism is designed with multiple arc-link sets, then the mechanism can achieve spherical coordinate kinematics, but the mechanism faces mutual interference and singularity issues
Solution Approach 1:
The mechanism is divided into three independent arc-link sets (first, second, and third arc-links), each capable of rotating about a different axis. This segmentation allows each component to operate independently within its own rotational plane, reducing mutual interference while maintaining the overall spherical coordinate kinematics capability
Solution Approach 2:
The patent introduces a vertical dimension by positioning the first and second arc-links in a horizontal plane while the third arc-link operates in a vertical plane. This dimensional separation allows the arc-links to rotate without interfering with each other, eliminating singularity issues while preserving spherical coordinate movement capability
2Ease of operation
If transmission components (belts, pulleys, gears) are added to arc-link sets, then synchronous rotation of base and terminal frames is achieved, but the device complexity increases
Solution Approach 1:
Transmission belts and pulleys are introduced as intermediary elements between the base frame and terminal frame. These intermediaries transfer rotational motion synchronously across the mechanism while allowing independent control of each arc-link set, achieving coordinated movement without direct mechanical coupling that would increase complexity
Solution Approach 2:
The transmission components serve multiple functions: they synchronize rotation between base and terminal frames, transmit power efficiently, and allow independent control of each arc-link. This multi-functionality reduces the need for separate control mechanisms, balancing ease of operation with acceptable device complexity
3Reliability
If orbit sequences are classified based on radius relationships, then geometric interference is avoided, but the manufacturing precision requirements increase
Solution Approach 1:
The patent classifies orbit sequences based on radius relationships (first orbit radius versus second orbit radius) and designs different configurations for each case. By changing the radius parameters according to the classified sequences, the mechanism avoids geometric interference while maintaining manufacturability through standardized design patterns for each sequence type
Data Source
AI summary
A mechanism is constructed by spherical concentric geometry and controlled by spherical coordinate kinematics. Transmission belts, pulleys, shafts, and spur gears are added onto three arc-link sets. Via these transmission components, base arc-links can be indirectly or directly but synchronously rotated by base driving modules and terminal arc-links can be indirectly or directly but synchronously rotated by terminal driving modules.