Dual Robotic Arm Force Vector Balancing
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Solution Overview
Problem
Dual robotic arms applying uneven forces to an object during transportation can cause deformation, damage, or falling due to uneven force distribution, which existing technologies have not effectively addressed.
Innovation Solution
A robotic arm system with a main controller that compares and adjusts the force vectors applied by two robotic arms to ensure equality, using force sensors and drivers to dynamically balance the forces and minimize internal stress on the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If dual robotic arms are used to transport an object, then the transportation capability is improved, but the force distribution becomes uneven causing deformation and damage
Solution Approach 1:
The system employs force sensors on both robotic arms to continuously monitor the applied forces, feeds this information back to the controller, which then dynamically adjusts the force distribution to maintain balance and prevent object deformation during transportation
Solution Approach 2:
The controller dynamically changes the force parameters (magnitude and direction) applied by each robotic arm based on real-time sensor data, adjusting the force vectors to ensure equal and balanced force distribution on the object throughout the transportation process
2Stability of the object's composition
If force sensors and control systems are added to balance forces, then the object stability is improved, but the device complexity increases
Solution Approach 1:
The controller serves multiple functions: it coordinates the motion of both robotic arms, processes force sensor data from both arms, calculates the required force adjustments, and sends control signals to maintain balanced force distribution, thereby reducing the need for separate dedicated balancing components
Solution Approach 2:
The system uses the force sensors already integrated into the robotic arms for their primary function to also provide force balance information, allowing the system to self-regulate and maintain force equilibrium without requiring additional external sensing or control mechanisms
Data Source
AI summary
A robotic arm system includes first robotic arm, second robotic arm and main controller. The first robotic arm and the second robotic arm are configured to grab object. The main controller is configured to: determine whether first force vector of first force applied by the first robotic arm to the object is equal to second force vector of second force applied by the second robotic arm to the object; when the first force vector and the second force vector are not equal, obtain a first difference between the first force vector and the second force vector; and according to the first difference, change at least one of the first force applied by the first robotic arm to the object and the second force applied by the second robotic arm to the object so that the first force vector and the second force vector are equal.