Compliance Compensator for Multi-Axis Robotic Alignment
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Solution Overview
Problem
Conventional mechanical couplings lack compliance in multiple aspects, such as axial, rotational, and skew, and are unable to adapt to varying stiffness requirements in robotic applications, leading to inefficient mechanical interactions between robotic arms and workpieces.
Innovation Solution
A compliance compensator apparatus with a base component and independently movable compliance component, allowing for axial, rotational, and skew movements in response to mechanical forces, featuring a pneumatic piston for adjustable stiffness and a sensor for reset position detection, along with shoulder bolts and conical washers for compliance in transverse and rotational aspects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional mechanical couplings are used, then the structure is simple and rigid, but compliance in multiple aspects (axial, rotational, skew) is lacking
Solution Approach 1:
The coupling device is divided into a first component and a second component that can move independently relative to each other. The second component is segmented into multiple compliance elements (springs, dampers, flexures) that provide compliance in different aspects (axial, rotational, skew) simultaneously, resolving the contradiction between multi-aspect adaptability and structural simplicity.
Solution Approach 2:
The coupling transitions from a static rigid structure to a dynamic system where the second component can move independently in multiple degrees of freedom. The compliance elements allow the structure to adapt dynamically to alignment irregularities and external forces, providing multi-aspect compliance without requiring a completely complex mechanism.
2Adaptability or versatility
If fixed stiffness compliance elements are used, then the compliance in one aspect is achieved, but adaptation to varying stiffness requirements in different robotic applications is limited
Solution Approach 1:
The stiffness of the compliance elements can be adjusted by changing physical parameters such as spring pre-load, damper viscosity, or flexure geometry. This allows the same coupling device to adapt to varying stiffness requirements across different robotic applications without requiring complex active control systems or multiple different components.
Solution Approach 2:
The coupling device is designed with compliance elements that can serve multiple functions: providing compliance in different aspects, absorbing shocks, compensating for thermal expansion, and adapting to varying stiffness requirements. This multi-functionality reduces the need for application-specific customization while maintaining adaptability.
3Adaptability or versatility
If compliant tools are used to accommodate alignment irregularities, then uniform force application is achieved, but the tool lacks precision in maintaining exact positioning
Solution Approach 1:
The compliant coupling acts as an intermediary between the rigid robotic arm and the workpiece. It absorbs alignment irregularities and positioning errors through controlled compliance in multiple aspects, allowing the robotic arm to maintain its positioning precision while the coupling accommodates the mismatch, thereby achieving both alignment tolerance and positioning precision simultaneously.
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
Enables uniform force application over non-perfectly aligned workpiece surfaces, accommodating various compliance forces and alignment irregularities, allowing for robust and adaptable mechanical engagement in robotic tasks.
Implementation Method 1
the stiffness of the compliance compensator apparatus may be set by varying the pneumatic pressure in the chamber behind the piston
Implementation Method 2
The shoulder bolts are biased to seat within the conical surfaces by the piston (if present), and also under spring bias
Data Source
AI summary
A compliance compensator apparatus provides a mechanically compliant coupling between, e.g., a robot arm or robotic tool and a mechanical load. The compliance compensator apparatus comprise a base component and a compliance component attached to the base component and independently moveable in several aspects. The compliance component may move, with respect to the base component, axially, transversely, rotationally, and skew, in response to mechanical force from an engaged load. When the load is disengaged, the compliance compensator apparatus returns to a reset position wherein the compliance component is spaced apart from, but parallel to, the base component.