Symmetrical Link Actuating Device for High-Rigidity Movement
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Solution Overview
Problem
Existing parallel link mechanisms require increased link lengths for a wide operating range, leading to larger device size and reduced rigidity, which limits the weight capacity and accuracy of the traveling plate.
Innovation Solution
A link actuating device with three or more sets of symmetrical link mechanisms, immobilizing mechanisms, and a structure body that connects input and output members, allowing for two-degree-of-freedom movement, high rigidity, and precise attitude adjustment, while minimizing rattling and size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the lengths of the links are increased to set a large operating range of the traveling plate, then the operating range is improved, but the size of the entire mechanism increases and the rigidity is reduced
Solution Approach 1:
The link mechanism is divided into multiple segments with universal joints, allowing the traveling plate to achieve a wide operating range through angular changes of individual segments rather than increasing the overall link length. This segmentation enables compact link lengths while maintaining large operating range.
Solution Approach 2:
The mechanism transitions from planar movement to three-dimensional movement by incorporating universal joints that enable angular changes in multiple directions. This dimensional change allows the traveling plate to achieve a large operating range without increasing link lengths, as movement is accomplished through spatial orientation changes rather than linear extension.
2Adaptability or versatility
If the lengths of the links are increased to set a large operating range of the traveling plate, then the operating range is improved, but the weight capacity of the traveling plate becomes small due to reduced rigidity
Solution Approach 1:
By segmenting the link mechanism into multiple sections connected by universal joints, each segment can be optimized for rigidity while the overall system achieves large operating range through coordinated angular changes. This allows maintaining high rigidity in individual links while achieving wide operating range system-wide.
Solution Approach 2:
The mechanism achieves large operating range through three-dimensional angular changes at universal joints rather than increasing link lengths. This dimensional approach maintains short, rigid links that can support heavy weights while enabling wide operating range through spatial reconfiguration.
3Adaptability or versatility
If the lengths of the links are increased to set a large operating range of the traveling plate, then the operating range is improved, but the size of the device increases
Solution Approach 1:
The link mechanism is segmented into multiple sections with universal joints, allowing compact individual link lengths while achieving large operating range through angular changes. This segmentation enables the device to maintain a compact overall size while providing extensive operating range.
Solution Approach 2:
The mechanism achieves large operating range through three-dimensional angular changes rather than linear link extension. This allows the device to maintain a compact footprint while enabling wide operating range through spatial reconfiguration of the link segments.
Data Source
AI summary
A link actuating device connects an output member to an input member through three or more link mechanisms for alteration in posture. Each of the link mechanisms includes end portion link members on input and output sides, and an intermediate link member. The link mechanisms are of such shapes that geometric models representing the link members by straight lines are such that input and output side portions are symmetrical to each other relative to an intermediate portion of each of the intermediate link members. Immobilizing mechanisms are provided in all of the link mechanisms to immobilize the output member in an arbitrary attitude relative to the input member. A structure body is provided to connect the input and output member to each other while being in contact with contacted portions formed in the input and output member.