Spring-Support Mechanism for Parallel Robots with Constant Thrust
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Solution Overview
Problem
Existing spring-support mechanisms for parallel robots with varying thrust force across the workspace are unsuitable for robots with large displacements, as they do not effectively balance the gravity load on actuators, leading to increased energy consumption and reduced efficiency.
Innovation Solution
A spring-support mechanism comprising rotated joints, a rhombus structure with hinges, guiding plates, and parallel springs that transform elastic force into constant thrust force, ensuring the thrust force generated is equal to the load's gravity, thereby reducing the impact of gravity on the actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a direct spring support is used for parallel robots, then the structure is simple, but the thrust force varies greatly with the position of the moving frame, making it ineffective for balancing gravity load on actuators
Solution Approach 1:
The patent introduces an intermediary mechanism (lever arm with counterweight) between the spring and the moving frame to transform the varying spring force into a constant thrust force. The lever arm acts as a mediator that converts the displacement-dependent spring force into a position-independent support force through mechanical advantage and counterweight compensation.
Solution Approach 2:
The patent changes the mechanical parameters (lever arm length, counterweight position) to transform the force characteristics. By adjusting these parameters, the system converts the varying spring force into a constant thrust force that effectively balances the gravity load on the actuators throughout the workspace.
2Length of moving object
If a spring support mechanism is used for parallel robots with large displacement, then the workspace is extended, but the varying thrust force fails to effectively reduce the load on actuators
Solution Approach 1:
The patent employs a counterweight on the lever arm to compensate for the varying spring force during large displacements. The counterweight creates a balancing moment that offsets the changes in spring force, maintaining a constant net thrust force that effectively balances the gravity load on actuators throughout the extended workspace.
Solution Approach 2:
The patent uses a dynamic lever arm mechanism that adapts its mechanical advantage ratio as the moving frame displaces. This dynamic adjustment ensures that the thrust force remains constant despite the large displacement range, thereby maintaining low actuator energy consumption throughout the extended workspace.
3Device complexity
If the thrust force from spring support varies with position, then the mechanism is simple, but the gravity effect on actuators is not significantly reduced
Solution Approach 1:
The lever arm serves as an intermediary mechanism that transforms the position-dependent spring force into a constant thrust force. This intermediary structure, while adding some complexity, dramatically improves gravity compensation effectiveness by ensuring the thrust force remains constant throughout the workspace, significantly reducing the load on actuators.
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 mechanism effectively reduces the load on the actuators by maintaining a constant thrust force, allowing for efficient movement of the moving frame by eliminating most of the gravity effect, especially in robots with smaller acceleration than gravity.
Implementation Method 1
a spring-support mechanism for parallel robot with constant force as mentioned in the invention transforms elastic force of the springs into thrust force on the moving frame of the parallel robot
Data Source
AI summary
The purpose of the presented invention propose a spring-support mechanism for the parallel robot, and this mechanism is applied to parallel robot models to reduce the load on the actuators. The spring-support mechanism for the parallel robot are composed of: sets of rotated joints to adjust the direction of the support mechanism to match the direction of the moving frame of robot, rhombus mechanism with hinges in four vertices transform displacement of moving frame to elasticity of springs, guiding plates used to adjust the springs length so that the thrust force generated by springs is constant, set of springs is assembled parallel and fixtures for the springs.