Umbilical Routing in Parallel Link Robots
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Solution Overview
Problem
Conventional parallel link robots face issues with umbilical member arrangement, where the member either obstructs motion or is subjected to excessive stress, leading to potential damage and interference with external equipment.
Innovation Solution
The umbilical member is arranged to extend through a space defined by the center axes of passive links at an angle of 70 to 110 degrees, allowing it to be connected to additional actuators or the end effector while minimizing the occupied area and avoiding excessive stress, using a clamp member to secure it on the lateral side of the passive link.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the umbilical member is arranged to project outward from the parallel link mechanism, then the robot can access a wider working area, but the occupied area becomes larger and the umbilical member may interfere with external equipment and be damaged
Solution Approach 1:
The umbilical member is routed through the interior space of the parallel link mechanism rather than projecting outward, utilizing the three-dimensional space within the mechanism structure. This internal routing allows the robot to maintain a compact external footprint while still providing adequate working area through the motion capabilities of the mechanism itself.
2Area of stationary object
If the umbilical member is contained within the interior area of the parallel link mechanism, then the occupied area is reduced, but excessive stress may be applied to the umbilical member when the link mechanism is operated over a wide range
Solution Approach 1:
The routing path of the umbilical member is divided into multiple segments that follow the structure of individual link parts. By routing the member through each link part separately rather than as a single straight path, the system accommodates the motion ranges of each link independently, reducing stress accumulation while maintaining compact overall dimensions.
Solution Approach 2:
The umbilical member routing is designed to be dynamic, allowing the member to flex and adjust its position as the link mechanism operates through its range of motion. The member is routed to reach lateral side portions of link parts where it can accommodate movement without excessive stress, rather than being fixed in a static position.
3Device complexity
If the umbilical member is routed through the link mechanism, then the robot maintains a compact structure, but the arrangement becomes complex and may obstruct the motion of the robot
Solution Approach 1:
The umbilical member is nested within the structural framework of the link parts, utilizing the existing spaces and pathways created by the mechanism's geometry. The member is routed through openings in the base part and along the lateral sides of link parts, effectively nesting it within the mechanism's skeleton without adding external bulk or obstructing motion paths.
Data Source
AI summary
An umbilical member arrangement structure capable of properly arranging an umbilical member in a parallel link robot. A first additional actuator is arranged on a passive link part of a parallel link robot. An Umbilical member is withdrawn from an opening formed on a generally circular bottom surface of a base part, while having a margin, approaches the passive link part, while extending in an intersecting direction with respect to a longitudinal direction of the passive link part, and is connected to the first additional actuator. The “intersecting direction” means a direction extending at an angle of 70 to 110 degrees, preferably 80 to 100 degrees, more preferably about 90 degrees, with respect to the longitudinal direction of the passive link part.