Active Damping System for Multi-Axis Robot Vibration Control
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Solution Overview
Problem
Conventional manufacturing robots experience vibrations during machining operations, which affect surface quality and robot integrity, and passive counterbalances are insufficient in damping these vibrations, especially when high accuracy is required, such as in aircraft construction.
Innovation Solution
An active damping system is implemented in multi-axis robots, comprising sensors and a controller that adjust a damping system to apply resistive forces based on real-time measurements of vibration, strain, and temperature, allowing for dynamic response to machining forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If passive counterbalances are used to support robot weight, then robot control is improved, but vibration damping during dynamic machining operations remains insufficient
Solution Approach 1:
The patent transitions from passive counterbalances to active damping systems that dynamically adjust damping forces based on real-time sensor feedback. The damping coefficient is continuously modified according to actual vibration conditions, allowing the system to adapt to varying dynamic parameters during machining operations.
Solution Approach 2:
The patent implements feedback control by using sensors to detect vibration levels and feeding this information back to the controller, which then adjusts the damping system accordingly. This closed-loop control enables the damping system to respond to actual vibration conditions rather than operating with fixed parameters.
2Device complexity
If conventional passive damping systems are used, then device complexity is reduced, but manufacturing precision deteriorates during high accuracy machining
Solution Approach 1:
The damping system transitions from static to dynamic operation, with the damping coefficient being continuously adjusted based on real-time vibration measurements. This enables precise control of damping forces to maintain manufacturing precision during high accuracy machining operations.
Solution Approach 2:
The patent changes the damping parameter (damping coefficient) dynamically during operation based on detected vibration levels. This allows the system to optimize damping performance for different machining conditions, thereby improving surface quality and manufacturing precision.
3Ease of manufacture
If passive counterbalances are used, then initial setup is simplified, but adaptability to varying dynamic parameters during machining is poor
Solution Approach 1:
The system uses sensor feedback to detect varying dynamic parameters during machining and automatically adjusts damping forces in response. This enables the system to adapt to changing conditions without manual intervention, maintaining performance across different operating scenarios.
Solution Approach 2:
The damping system automatically adjusts itself based on sensor feedback without requiring external intervention. The controller monitors vibration levels and autonomously modifies damping parameters, enabling the system to self-adapt to varying dynamic conditions during machining operations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The active damping system effectively reduces unwanted vibrations and deflections, improving machining accuracy and surface finish, and extending the service life of the robot by adapting to varying conditions during machining.
Implementation Method 1
a damping system configured to apply a resistive force to the multi-axis robot, thereby to resist movement of the multi-axis robot
Data Source
Figure 1
Figure 2
AI summary
A robotic system comprising: a multi-axis robot (100); one or more sensors (206, 208, 210) located on the multi-axis robot (100); a damping system (150) configured to apply a resistive force to the multi-axis robot (100), thereby to resist movement of the multi-axis robot (100); and a controller (204) coupled to the one or more sensors (206, 208, 210) and the damping system (150), the controller (204) being configured to: receive sensor measurements from the one or more sensors (206, 208, 210); and control, based on the received sensor measurements, the damping system (150) thereby to control the resistive force applied by the damping system (150) to the multi-axis robot (100).