Dual-Arm 6-DOF Work Device With Split Linear-Rotary Motion
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing multi-articulated robot work devices face challenges in performing delicate tasks at high speed due to complex coordination requirements, large movement ranges, and safety concerns, making them difficult to operate without extensive knowledge and experience, and they often require significant space and barriers to prevent collisions with humans and objects.
Innovation Solution
A work device with six degrees of freedom, comprising a linear motion unit with three degrees of freedom and a rotation unit with three degrees of freedom, allowing precise positioning and posture control of an end effector, enabling easy motion pattern setting and reduced movement ranges, and a dual-arm configuration for human-like operation.
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 postures and movements, but the coordination complexity increases and high-speed delicate work becomes difficult
Solution Approach 1:
The patent divides the six-degree-of-freedom mechanism into two independent units: a linear motion unit with three degrees of freedom and a rotation unit with three degrees of freedom. This segmentation allows each unit to be controlled independently, reducing coordination complexity while maintaining full posture control capability.
2Reliability
If the range of movement is made wide to prevent contact with nearby objects, then safety is improved, but the occupation area increases
Solution Approach 1:
The patent implements dynamic range adjustment where the movement range of the linear motion unit can be changed based on work requirements. For delicate work, the range is reduced to minimize occupation area, while safety barriers are positioned adaptively to prevent contact with nearby objects only when necessary.
3Reliability
If motion speed is reduced to prevent contact with humans or objects, then safety is improved, but productivity decreases
Solution Approach 1:
The patent implements dynamic speed adjustment where the motion speed of the linear motion unit is adapted to the work type. High-speed operation is enabled for delicate precision work within a controlled range, while speed is reduced only when approaching safety boundaries or performing rough work, thereby maintaining both safety and productivity.
4Reliability
If barriers are provided to prevent contact, then safety is improved, but the occupation area and device cost increase
Solution Approach 1:
The patent implements dynamic barrier positioning where safety barriers are moved or adjusted based on the current work range and type. Barriers are provided only when and where contact prevention is necessary, rather than maintaining fixed comprehensive barriers, thereby reducing occupation area and cost while maintaining safety.
Data Source
AI summary
A work device is configured to perform a work with use of an end effector and have six degrees of freedom. The work device including: a linear motion unit obtained by combining three linear motion actuators, to have three degrees of freedom; and a rotation unit obtained by combining a plurality of rotation mechanisms each having one or more degrees of rotational freedom, to have three degrees of freedom. A base portion of the linear motion unit is fixed to a mount. A base portion of the rotation unit is fixed to an output portion of the linear motion unit. The end effector is mounted to an output portion of the rotation unit.