Sustaining Manipulator Arm Static Equilibrium
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Solution Overview
Problem
Conventional spring static balancing mechanisms fail to achieve complete gravitational equilibrium at arbitrary positions due to structural limitations, restricting multi-degree-of-freedom motion and being limited to planar motions.
Innovation Solution
A sustaining manipulator arm comprising multiple linkage sets with elastic elements and ball joints, allowing for static equilibrium at any position through elastic potential energy conversion, enabling multi-degree-of-freedom motion by connecting linkage sets with specific revolution directions and orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a conventional spring static balancing mechanism is used, then the structure is simple and cost-effective, but it cannot reach complete gravitational equilibrium at an arbitrary position
Solution Approach 1:
The manipulator arm is divided into multiple independent linkage sets (first, second, third linkage sets), each responsible for balancing gravitational equilibrium in different spatial directions. Each linkage set includes links, revolution elements, and elastic elements that work independently to achieve complete three-dimensional gravitational equilibrium, resolving the limitation of conventional single-plane balancing mechanisms.
Solution Approach 2:
The invention transitions from conventional planar balancing mechanisms to three-dimensional spatial balancing by adding vertical revolution elements and configuring links in multiple directions. The first, second, and third linkage sets are arranged to provide balancing capability in horizontal and vertical dimensions simultaneously, enabling complete gravitational equilibrium at arbitrary positions in space.
2Device complexity
If planar parallelogram linkages are used, then the structure is simple, but multi-degree-of-freedom spatial motion cannot be accomplished
Solution Approach 1:
The manipulator arm is divided into multiple independent linkage sets (first, second, third linkage sets), each responsible for providing one degree of freedom motion in a specific direction. Each linkage set includes links, revolution elements, and elastic elements that work independently to achieve complete three-dimensional gravitational equilibrium and enable multi-degree-of-freedom spatial motion.
Solution Approach 2:
The invention transitions from conventional planar parallelogram linkages to three-dimensional spatial linkages by adding vertical revolution elements and configuring links in multiple directions. The first linkage set provides horizontal motion, the second linkage set provides vertical motion, and the third linkage set provides additional spatial positioning, enabling the end effector to reach arbitrary positions in three-dimensional space.
3Adaptability or versatility
If multiple parallelogram linkages are connected to increase degrees of freedom, then motion capability is improved, but the structure becomes complex and cannot reach arbitrary positions
Solution Approach 1:
The manipulator arm is divided into three independent linkage sets, each with a clear functional responsibility for providing one degree of freedom motion. This segmentation maintains structural clarity while achieving three-degree-of-freedom spatial motion capability, allowing the end effector to reach arbitrary positions without excessive structural complexity.
Solution Approach 2:
The invention uses three linkage sets configured in different spatial orientations to provide three degrees of freedom motion. The first linkage set handles horizontal motion, the second handles vertical motion, and the third provides additional spatial positioning, enabling the end effector to reach arbitrary positions in three-dimensional space with a relatively simple and systematic structure.
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 manipulator arm achieves static equilibrium and multi-degree-of-freedom motion, reducing the need for additional energy and improving positional precision, while minimizing the overall weight and cost.
Implementation Method 1
The method of adding a spring utilizes a spring potential energy change to balance a gravitational potential energy change of the mechanism, thereby achieving a conservative energy system which keeps the total potential energy unchanged.
Data Source
AI summary
A sustaining manipulator arm capable of being set on a ground includes a first linkage set. The first linkage set includes a first link, a second link, a first ball joint, a second ball joint, a third link, and a first elastic element. A first end of the first link is connected to a first revolution element, and the first revolution element has a first revolution direction. A first end of the second link is connected to a second revolution element. The second revolution element has a second revolution direction. The first revolution direction and the second revolution direction are the same direction, and the first revolution element and the second revolution element are on a first plane. The first ball joint is set in the first link. The second ball joint is set in the second link. A first end of the third link is connected to the first ball joint. A second end of the third link is connected to the second ball joint, and the third link is parallel to the first plane. The two ends of the first elastic element are respectively attached to the first link and the third link, and the first elastic clement makes the first linkage set reach static equilibrium.