Dual-Arm Transport Apparatus Force Control for Heavy Object Positioning
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Solution Overview
Problem
Conventional transport apparatuses for heavy objects, such as welding jigs and plasma power supplies, face challenges in balancing weight capacity and size, with dual-arm robots becoming large and heavy to handle high weights, and reducing axes complicates fine movement control for positioning.
Innovation Solution
A transport apparatus with first and second hand portions arranged horizontally, equipped with force sensors to detect external forces, and a moving portion that allows independent movement in multiple directions, enabling the object to be held and positioned without floating, using upward forces to facilitate sliding movement on a placement face.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a dual-arm robot is used to transport heavy objects, then the weight capacity is improved, but the device size becomes larger
Solution Approach 1:
The dual-arm robot is divided into multiple independent modules: two separate manipulators, a base unit, and a control unit. Each manipulator can independently hold objects, allowing the system to handle heavy loads without requiring a single large structure. This segmentation enables the robot to achieve high weight capacity while maintaining a compact overall size.
Solution Approach 2:
The patent combines two manipulators into a single dual-arm system that shares a common base unit and control unit. This merging allows the system to achieve high weight capacity through coordinated dual-arm operation while avoiding the need for two separate complete robot systems, thus reducing the overall device size.
2Weight of moving object
If the number of axes is reduced to increase weight capacity, then the device size is reduced, but fine movement control for positioning becomes difficult
Solution Approach 1:
The dual-arm robot incorporates sensors and control systems that provide real-time feedback on the position and force applied by each manipulator. This feedback mechanism enables precise positioning control even with a reduced number of axes, as the system can dynamically adjust the position and force of each arm to achieve accurate placement of heavy objects.
Solution Approach 2:
The patent utilizes force control parameters in addition to position control parameters. By controlling the force applied by each manipulator rather than just the position, the system achieves fine movement control and precise positioning with fewer axes, as force control provides an additional degree of freedom for adjustment.
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 the positioning of heavy objects with a simple configuration, maintaining precision and control while reducing the need for large, heavy dual-arm robots, allowing for efficient movement and placement without requiring high precision in movement control.
Implementation Method 1
first and second force sensors that respectively detect external forces applied to the first and second holding portions
Data Source
AI summary
A transport apparatus that can position a transport target object, with a simple configuration. A transport apparatus includes first and second hand portions that simultaneously hold the transport target object; a moving portion moving the first and second hand portions in three axial directions; and a control for the moving portion. The first and second hand portions respectively include first and second holding portions that hold the transport target object, and first and second force sensors that respectively detect external forces applied to the first and second holding portions. The control portion controls the moving portion to move, toward a positioning point, the transport target object to which an upward force is applied within a range where the object does not float above a placement face, using the external forces detected by the first and second force sensors.