Articulated Arm Robot for Automatic Trajectory Detection
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Solution Overview
Problem
The existing methods for commissioning industrial robots are time-consuming and heavily dependent on technical expertise, as they require manual optimization of numerous path points for complex workpieces, especially in folding applications, due to manufacturing tolerances and differences between CAD models and real environments.
Innovation Solution
A method and system that utilize a multi-axis articulated arm robot with force-torque sensors to automatically detect and optimize path points on a workpiece by coupling it to an industrial robot, allowing for precise recording and adjustment of path points through compliance control, thereby reducing the need for manual optimization and improving commissioning efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If path points are manually optimized during robot commissioning, then manufacturing precision and quality requirements are met, but commissioning time increases significantly and dependency on technical expertise increases
Solution Approach 1:
The articulated arm robot performs self-measurement of the workpiece geometry by automatically recording path points during commissioning, eliminating the need for manual optimization by programmers. The system serves itself by autonomously capturing the actual workpiece contours and generating accurate trajectories without human intervention.
Solution Approach 2:
Manual mechanical measurement and optimization processes are replaced by an automated measurement system using an articulated arm robot equipped with sensors. The mechanical system automatically traverses the workpiece, records coordinates, and generates optimized path points, substituting the manual mechanical adjustment process with an automated measurement-based approach.
2Manufacturing precision
If many path points are generated for complex workpiece contours, then manufacturing precision is improved, but the number of points requiring manual optimization increases
Solution Approach 1:
The articulated arm robot autonomously measures complex workpiece contours and automatically generates the necessary path points without requiring manual optimization. The system self-adapts to the complexity of the workpiece by independently determining the measurement strategy and generating an appropriate number of path points based on the actual geometry.
Solution Approach 2:
The actual geometry of the workpiece is measured and recorded before the robot begins processing operations. By performing the measurement action in advance during commissioning, the system captures all necessary path points for complex contours beforehand, eliminating the need for subsequent manual optimization and allowing the robot to directly use the pre-recorded data.
3Productivity
If CAD models are used for offline path point generation, then productivity is improved, but differences between CAD models and real workpieces reduce measurement precision
Solution Approach 1:
The system performs preliminary actual measurement of the workpiece during commissioning to capture the true geometry, including any deviations from the CAD model. This preliminary measurement action creates an accurate reference that compensates for tolerances and differences between the digital model and the physical workpiece, ensuring subsequent processing uses precise actual dimensions.
Solution Approach 2:
The system incorporates feedback by comparing the measured actual workpiece geometry with the CAD model and using the measured data as the basis for robot trajectory generation. The measurement results feed back into the control system, allowing the robot to adapt to actual workpiece variations and maintain high precision despite differences from the original CAD design.
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
This approach enables faster and simpler commissioning of industrial robots by automatically detecting and optimizing path points, reducing the number of points that need manual adjustment, and ensuring accurate processing of complex workpieces without damaging them, thus enhancing operational efficiency and reducing dependency on technical expertise.
Implementation Method 1
Sensors, in particular torque sensors, for detecting the forces and/or torques acting on the axes of the articulated-arm robot. Force-torque sensors are preferably used as sensors, in particular sensors based on strain gauges (DMS)
Data Source
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AI summary
The invention relates to a method and a system for detecting trajectory points on a workpiece. To this end, a multi-axial robot having an articulated arm is detachably coupled to a hand flange of an industrial robot, and the workpiece is automatically measured by the robot having an articulated arm. The invention further relates to a method and a system for machining a workpiece on the basis of the automatically detected trajectory points.