Three-Limb 5-DOF Parallel Robot for Stiffness-Workspace Balance
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Solution Overview
Problem
Conventional five-degree-of-freedom parallel industrial robots provide high stiffness but limited workspace, making them inefficient for machining large and complex parts.
Innovation Solution
A parallel robot with three limbs and five degrees of freedom, comprising a static platform, a movable platform, an unconstrained limb group, and a constrained limb, where the unconstrained limbs are connected through kinematic pairs and movable joints, and the constrained limb is driven by motors or hydraulic devices to provide five degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If conventional five-degree-of-freedom parallel industrial robot structure is used, then high stiffness is achieved, but workspace is limited
Solution Approach 1:
The robot system is divided into an unconstrained limb group (first and second limbs) and a constrained limb (third limb). The unconstrained limbs provide workspace flexibility while the constrained limb maintains stiffness through proportional constraints, resolving the contradiction between workspace size and stiffness
Solution Approach 2:
The constrained limb moves between the unconstrained limb group or between extension lines of the unconstrained limb group, adding a dimensional constraint that enhances stiffness without limiting the overall workspace volume defined by the unconstrained limbs
2Strength
If conventional five-degree-of-freedom parallel industrial robot structure is used, then high stiffness is achieved, but machining efficiency of large parts is reduced
Solution Approach 1:
By segmenting the limb system into constrained and unconstrained groups, the robot achieves both stiffness for precision machining and enlarged workspace for efficient machining of large parts, improving productivity without sacrificing stiffness
Solution Approach 2:
The system changes the constraint parameters by allowing the constrained limb to move between the unconstrained limb group or between their extension lines, optimizing the balance between stiffness and workspace for efficient large part machining
Data Source
AI summary
A parallel robot with three limbs and five degrees of freedom includes: a static platform as a support base, and a movable platform as a position adjustment, wherein a machining output unit is provided on the movable platform for executing actions; an unconstrained limb group is provided between the static platform and the movable platform, and a constrained limb is also provided between the static platform and movable platform for constraining; the constrained limb moves between the unconstrained limb group, or between extension lines of the unconstrained limb group. The present invention comprises three limbs which are connected to the movable platform through movable joints. The three limbs are connected to the static platform through kinematic pairs. Positional and angular stiffness of the robot can be ensured by proportional constraints on a triangle surrounded by the movable joints as well as a triangle surrounded by connecters on the kinematic pairs. The present invention has the structural advantages of high stiffness and large workspace, which is capable of efficient machining of core components for large-scale high-end equipment.