The Spider Robot typically adopts a design called a Parallel Mechanism, which is the foundation of its main structure. The characteristic of parallel mechanisms is that multiple motion chains (or branch chains) are connected in parallel to the fixed platform (base) and the moving platform (end effector), and these branch chains act simultaneously to jointly determine the position and attitude of the moving platform relative to the fixed platform.
The common type of parallel mechanism in spider robots is Delta（Δ） The main structure of an institution mainly consists of the following parts:
1. Base Plate: As the support foundation for the entire robot, it is fixed and usually connected to the ground or other supporting structures.
2. Actuator Arms: One end of each active arm is fixed on a fixed platform, and the other end is connected to an intermediate link through a joint. The active arm is usually driven by an electric motor (such as a servo motor) and converted into precise linear or rotational motion through a reducer and transmission mechanism.
3. Linkage: Usually a rigid member connected to the end of the active arm, forming a closed frame of triangle or quadrilateral shape. These linkages provide support and guidance for the mobile platform.
4. Mobile platform (End Effector): also known as end effector, is the part of the spider phone where people directly interact with the work object, and can install various tools such as grippers, suction cups, nozzles, etc. The mobile platform is connected to the middle link through a connecting rod, and changes position and attitude synchronously with the movement of the active arm.
5. Joints: The active arm is connected to the intermediate link, and the intermediate link is connected to the moving platform through high-precision rotary joints or ball hinges, ensuring that each branch chain can move independently and harmoniously.
The parallel mechanism design of the human body of the spider phone has the following advantages:
High speed: Due to the simultaneous operation of multiple branches of the parallel mechanism, there are no redundant degrees of freedom during the motion process, reducing the length and mass of the motion chain, thereby achieving high-speed motion response.
High precision: The geometric constraints of parallel mechanisms are strong, and the motion of each branch chain is mutually constrained, which is conducive to improving the accuracy of repeated positioning. Through precise mechanical design and high-precision servo control, Spider Robot can achieve sub millimeter level positioning accuracy.
Strong rigidity: The triangular or polygonal connecting rod structure has good rigidity, can withstand high loads and maintain good dynamic performance, and is suitable for high-speed and high-precision material handling, assembly, inspection and other tasks.
Compact structure: Compared to series mechanisms (such as series six axis robots), the motion space of parallel mechanisms is concentrated between fixed and mobile platforms, making the overall structure more compact and occupying less space, making it particularly suitable for working in space limited environments.
In summary, the main body of the spider phone robot adopts a parallel mechanism design, especially the Delta mechanism, which endows the robot with characteristics such as high speed, high precision, strong rigidity, and compact structure, making it perform well in packaging, sorting, handling and other applications.
Post time: May-14-2024
