Delta Robot Arm Deformation Detection Using a Linear Encoder
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Solution Overview
Problem
Existing methods for determining deformations in delta robots are complex and expensive, necessitating the use of sophisticated equipment.
Innovation Solution
A method involving a turning shaft mounted on one side of a structural element with a linear encoder on the other, allowing the shaft to move freely inside, measures displacement relative to its initial position to detect deformations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex and expensive equipment is used to determine deformations in delta robots, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical measurement systems with a simpler system combining a linear encoder and turning shaft. The linear encoder uses electromagnetic or optical fields instead of mechanical contacts to measure shaft displacement, reducing mechanical complexity while maintaining measurement precision for detecting structural element deformations in delta robots
Solution Approach 2:
The patent uses a turning shaft that freely moves inside the linear encoder to create a simplified measurement model. The shaft acts as a reference that copies the structural element's position changes, allowing deformation detection through relative displacement measurement rather than direct complex sensing
2Measurement precision
If sophisticated equipment is used for deformation detection, then measurement precision is improved, but ease of manufacture deteriorates
Solution Approach 1:
The patent divides the measurement system into separate functional components: a linear encoder mounted on one side of the structural element and a turning shaft mounted on the other side. This segmentation allows each component to be manufactured and calibrated independently, then assembled together, improving ease of manufacture while maintaining measurement precision
Solution Approach 2:
The turning shaft freely moves inside the linear encoder without requiring external actuation or complex mounting mechanisms. The system uses the natural relative motion between the shaft and encoder to self-measure deformations, eliminating the need for additional sensors or complex control systems
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 efficient and cost-effective detection of in-motion deformations without requiring complex or expensive equipment, ensuring high accuracy and quick implementation.
Implementation Method 1
a linear encoder is mounted on the other side of the structural element; wherein the turning shaft is arranged with freedom of movement inside the linear encoder, after which the delta robot is engaged in motion, during which specifically any existing displacement of the said shaft inside the encoder relative to its initial position is determined
Data Source
AI summary
The preferred embodiments relate to the field of measuring technology, and can be used to determine in-motion delta robot arm deformation. The method includes the use of a linear encoder, which is mounted on one side of the delta robot arm, and the shaft is attached to the other side of the arm, and the turning shaft is arranged with freedom of movement inside the linear encoder, and the delta robot arm deformation is determined during its motion by displacement of the said shaft inside the encoder relative to its initial position. The use of the invention enables to simplify the process of determining deformations.