Double-Arm Working Head Layout for Fast 6-DOF Robot Positioning
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Solution Overview
Problem
Existing articulated robot working devices with six degrees of freedom face challenges in performing fine, high-speed work due to wide movement ranges, increased risk of contact with objects or people, and the need for extensive enclosures, which limits their operational speed and efficiency.
Innovation Solution
A working device configuration incorporating a linear motion unit with three degrees of freedom and a rotary unit with three degrees of freedom, where the linear motion unit determines end effector positions and the rotary unit determines posture, allowing for precise control and reduced operation amounts, enabling high-speed, accurate, and versatile operations without requiring extensive knowledge or experience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If six rotational mechanisms are combined to achieve six degrees of freedom, then the device can perform various work, but the movement range becomes wide causing contact with objects or people
Solution Approach 1:
The six degrees of freedom are segmented into two independent units: a linear motion unit with three degrees of freedom for position control, and a rotary unit with three degrees of freedom for posture control. This segmentation allows each unit to operate within a limited range, preventing contact with surrounding objects or people while maintaining full six-DOF work capability.
2Adaptability or versatility
If six rotational mechanisms are combined, then the device can reach various postures, but the operation speed decreases due to need for cooperative motor driving
Solution Approach 1:
By segmenting the six degrees of freedom into linear motion (position) and rotary motion (posture), the control system can independently adjust position and posture. This reduces the complexity of cooperative control and enables faster operation speed while maintaining the ability to reach various postures.
Solution Approach 2:
The linear motion unit provides precise position control with three degrees of freedom, which is sufficient for most positioning requirements. This partial action approach allows the rotary unit to focus solely on posture adjustment, improving overall operation speed.
3Adaptability or versatility
If wide movement range is provided, then the device can perform various work, but large enclosure is required increasing occupation area
Solution Approach 1:
The device segments motion into linear displacement (for position within workspace) and rotary motion (for posture adjustment). This allows the linear motion unit to operate within a compact three-dimensional space while the rotary unit adjusts orientation in place, significantly reducing the required enclosure area while maintaining work range.
4Reliability
If contact prevention function is enhanced, then safety is improved, but the device becomes expensive
Solution Approach 1:
The linear motion unit with limited travel range and the rotary unit with defined rotation limits are designed to inherently prevent contact with surrounding objects or people before contact can occur. This preliminary design constraint eliminates the need for expensive emergency stop systems or complex safety monitoring equipment.
Data Source
AI summary
A working device includes: a linear motion unit having three degrees of freedom and obtained by combining three linear motion actuators; and a rotary unit having three degrees of freedom and obtained by combining a plurality of rotating mechanisms each having one or more rotational degrees of freedom. The linear motion unit is mounted on a mount such that a base portion of the linear motion unit is fixed to the mount. A base portion of the rotary unit is fixedly mounted on an output portion of the linear motion unit. End effectors are mounted on both the output portion of the linear motion unit and an output portion of the rotary unit.