Parallel robot system and control method thereof

Parallel Robot System Combining a Bevel Gear-Driven Spherical 3-DOF Parallel Mechanism with Kalman Filter Tracking

This technology is a parallel robot system that controls the position and orientation of a user unit connected to a rotating member. It is based on a spherical 3-DOF parallel mechanism where multiple motors mounted on the outer surface of a base frame drive intersecting guide links via bevel gears, and it includes an object tracking control algorithm utilizing a Kalman filter.

Conventional technologies suffer from limitations such as high external exposure when ceiling-mounted due to the fixed body and user unit being in the same direction, increased volume from internal motors, reduced durability due to asymmetric loads, and constraints on miniaturization caused by screw-through structures.

This technology minimizes mechanical interference by placing motors on the outer surface of the base frame and forming semi-circular guide links that face the user unit. It achieves a compact structure by using bevel gears to transmit motor power, and it tracks objects in blind spots by matching sensing predictions with real-time sensing values and estimating positions using a Kalman filter. Applicable to ceiling-mounted surveillance and tracking robots, industrial automation, and precision positioning, this compact design enhances space utilization and blind-spot tracking performance.

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Key Features:

• A base frame formed with an internal space, featuring a first motor and a second motor disposed on its outer surface
• A first guide link with both ends connected to the base frame, configured to be rotated by the first motor
• A second guide link with both ends connected to the base frame, configured to be rotated by the second motor and to intersect with the first guide link
• A rotating member configured to be rotated by the first or second guide link, with a replaceable user unit connected to its other end

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This invention was developed through active display support using local government ubiquitous networks.