Dual-Arm Robot 3D Interference Detection for Coaxial Operation
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Solution Overview
Problem
Conventional dual-arm robot systems face interference issues between hands and other portions, despite the absence of interference between horizontal articulated arms, leading to operational challenges and increased system size.
Innovation Solution
A dual-arm robot system with a controller that determines interference based on three-dimensional models of hands, horizontal links, and a body, allowing coaxial rotation of robot arms and shared control, reducing interference and system size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If hands are attached to the tip ends of horizontal articulated arms, then the robot can perform manipulation tasks, but the hands may interfere with other portions of the robot even when the horizontal articulated arms do not interfere
Solution Approach 1:
The patent introduces a vertical dimension to the interference determination by generating three-dimensional models of the hand, horizontal link, and body. This allows the system to detect interference in three-dimensional space rather than only in the horizontal plane, enabling detection of interference between the hand and other robot portions that occur in the vertical direction.
2Adaptability or versatility
If the first robot arm and second robot arm rotate about different axes, then the robot arms can operate independently, but the robot arms must be spaced apart from each other increasing the system size
Solution Approach 1:
The patent merges the rotation axes of the first and second robot arms, making them coaxial. This allows both robot arms to rotate about the same vertical axis, enabling them to be positioned closer together and reducing the overall system size while maintaining independent operation capability through coordinated control.
3Object-affected harmful factors
If the robot arms are spaced apart from each other, then interference between arms is reduced, but the system size increases
Solution Approach 1:
The patent addresses interference between robot arms by introducing three-dimensional interference determination. Instead of spacing arms apart to avoid interference, the system uses 3D modeling to detect and manage interference, allowing compact arm positioning while maintaining operational safety through active interference detection and avoidance control.
Data Source
AI summary
A dual-arm robot system includes a controller configured or programmed to determine whether or not interference determination targets interfere with each other based on whether or not three-dimensional models generated with a plurality of portions including at least a hand among the hand, a horizontal link, and a body as the interference determination targets overlap each other.