3-DOF Collaborative Fastening Robot With Parallel Chains
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Solution Overview
Problem
Existing robotic systems for fastening operations are either inefficient when manual, prone to cross-threading errors, and costly, or overly complex, bulky, and application-specific when automated, limiting their versatility and increasing production time and costs.
Innovation Solution
A robotic system with a support structure, motor mount assembly, parallel chains, serial translation assembly, sensor, and control module that provides three degrees-of-freedom motion and assists human operators, enabling flexible and efficient fastening operations across various devices and components with reduced operator fatigue.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a fully automated robotic system is used for fastening operations, then productivity and precision are improved, but device complexity and cost increase significantly
Solution Approach 1:
The robotic system is divided into modular components: a movable platform with fastening tool, parallel chain mechanisms for positioning, serial translation assembly for height adjustment, and independent motor units. This segmentation allows the system to achieve automated functionality while maintaining simplicity through standardized, replaceable modules rather than a monolithic complex structure.
Solution Approach 2:
The robotic system is designed with universal applicability across multiple fastening applications. The movable platform can accommodate different fastening tools, the parallel chain mechanisms can adjust to various positioning requirements, and the serial translation assembly enables operation at different heights. This multi-functionality eliminates the need for application-specific custom systems, reducing overall complexity.
2Manufacturing precision
If a fully automated robotic system is configured for a particular application, then manufacturing precision is improved, but adaptability deteriorates
Solution Approach 1:
The system employs dynamic positioning through parallel chain mechanisms that can adjust in real-time to accommodate different fastening locations and orientations. The serial translation assembly provides dynamic height adjustment capability, allowing the movable platform to adapt to various application geometries while maintaining precise positioning through controlled motor actuation.
Solution Approach 2:
The robotic system incorporates sensors that detect the position and orientation of the movable platform, providing feedback to the control system. This feedback enables real-time adjustment and correction, ensuring manufacturing precision across different applications while allowing the system to adapt to varying fastening requirements through closed-loop control.
3Adaptability or versatility
If manual fastening operations are performed, then adaptability is maintained, but productivity and precision deteriorate
Solution Approach 1:
The robotic system enables semi-automatic operation where the operator positions the movable platform manually and the system automatically performs the fastening operation. This self-service approach combines manual adaptability with automated precision and speed, allowing the system to serve itself in completing fastening tasks once positioned.
Solution Approach 2:
The system acts as an intermediary between manual operation and full automation. The movable platform with integrated fastening tool serves as a mediator that can be manually positioned for adaptability while incorporating automated fastening mechanisms for improved productivity and precision, bridging the gap between purely manual and fully automated systems.
4Adaptability or versatility
If manual fastening operations are performed continuously, then adaptability is maintained, but operator fatigue increases due to physical strain
Solution Approach 1:
The parallel chain mechanisms and motor units are designed to counterbalance the weight of the movable platform and fastening tool. This anti-weight design reduces the physical effort required by the operator to position and maintain the platform, eliminating continuous physical strain while preserving manual positioning capability and adaptability.
Data Source
AI summary
A robotic system includes a support structure, a motor mount assembly, first and second parallel chains, a serial translation assembly, a sensor and a control module. The motor mount assembly includes rotary motors, where the rotary motors include a first rotary motor and a second rotary motor. The first and second parallel chains are connected to the movable platform, the rotary motors and the motor mount assembly. The serial translation assembly is connected to the supporting structure and the motor mount assembly and includes a linear actuator and a third rotary motor. The sensor is connected to the movable platform and detects force applied by a human operator on the movable platform and generates a signal indicative of the force applied. The control module controls the rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform.