Spherical Parallel Link Mechanism for Wide-Range Compact Motion
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Solution Overview
Problem
Existing parallel link mechanisms face challenges in achieving a compact construction while maintaining a precise and wide operating range, particularly due to the limited operating angle of links and the need for additional degrees of freedom which increases device size.
Innovation Solution
A parallel link mechanism is designed with a proximal end-side link hub, three or more link mechanisms, rotating bodies connected to the link mechanisms, and a distal end-side link hub. The link mechanisms are configured such that the first and second link members intersect at a spherical link center point, allowing the distal end-side link hub to move on a sphere from a fixed center of rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the link length is increased to achieve a large operating range of the traveling plate, then the operating range is improved, but the size of the entire mechanism and apparatus increases
Solution Approach 1:
The invention introduces a spherical linkage mechanism where the traveling plate is positioned at the center of a sphere and connects to the support plate through multiple links arranged radially. The links rotate about spherical joints, enabling the traveling plate to move along the surface of a sphere. This spherical geometry allows a wide operating range without requiring long link lengths, as the radial arrangement and rotational freedom provide extensive movement capability within a compact volume.
2Measurement precision
If three or more link mechanisms are used to achieve precise and wide operating range, then the operating precision is improved, but the device complexity increases
Solution Approach 1:
The invention employs multiple identical link mechanisms (at least three) that perform the same function of connecting the traveling plate to the support plate. Each link mechanism consists of a link, first spherical joint, second spherical joint, and third spherical joint with the same structure. This uniform repetition of standardized components achieves precise positioning through geometric constraints while avoiding the complexity of designing and integrating different types of mechanisms. The modular nature allows precise control through simple rotational movements of identical units.
3Adaptability or versatility
If additional degrees of freedom are added to the distal end-side link hub, then the mobility is improved, but the device size increases
Solution Approach 1:
The invention combines multiple rotational degrees of freedom into a single integrated spherical linkage system. The traveling plate simultaneously achieves rotation about the vertical axis and movement along the spherical surface through the coordinated rotation of multiple links about spherical joints. This merging of rotational and spherical movements into one compact mechanism provides three degrees of freedom without requiring separate mechanisms or external rotation devices, maintaining a compact overall size while achieving complex motion capabilities.
Data Source
AI summary
A parallel link mechanism includes a proximal end-side link hub, three link mechanisms, a rotating body, and a distal end-side link hub. The rotating body is connected to one link mechanism among the three link mechanisms. The rotating body is rotatably coupled to the proximal end-side link hub. In the link mechanism, a first center axis of a first revolute pair portion intersects with a second center axis of a second revolute pair portion at a spherical link center point. The rotation center axis of the rotating body intersects with the spherical link center point.