Dual-Arm Work Device Layout for Fast Fine Motion and Collision Prevention
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Solution Overview
Problem
Existing articulated robot work devices with six degrees of freedom face challenges in performing fine, high-speed work due to the need for cooperative motor driving, wide movement ranges, and complex posture control, leading to potential collisions and increased operational complexity, especially in dual-arm configurations.
Innovation Solution
A work device with six degrees of freedom, comprising a linear motion unit with three degrees of freedom and a rotary unit with three degrees of freedom, featuring a contact preventer with an entry allowing portion and detection sensor to manage workspace separation and prevent collisions, allowing for precise positioning and posture control 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 work device can perform various postures and movements, but the operation amount increases and fine work at high speed becomes impossible
Solution Approach 1:
The patent divides the six degrees of freedom into two independent units: a linear motion unit with three degrees of freedom (X, Y, Z directions) and a rotary unit with three degrees of freedom (pitch, yaw, roll). This segmentation allows the linear unit to handle positioning at high speed while the rotary unit handles posture adjustment, resolving the contradiction between versatility and speed by distributing functions across specialized subsystems.
2Ease of operation
If the range of movement is widened to avoid contact with surrounding objects, then the work device can operate more freely, but the occupation area increases and requires large enclosure
Solution Approach 1:
The patent introduces a linear motion dimension that allows the end effector to approach objects from directions other than the traditional horizontal plane. By combining linear translation with rotary movement, the system can perform tasks within a compact vertical space, effectively utilizing the third dimension (height) to reduce the horizontal occupation area while maintaining operational freedom.
3Adaptability or versatility
If multiple motors are driven cooperatively to change end effector posture or position, then six degrees of freedom are achieved, but the operational complexity increases and fine work becomes difficult
Solution Approach 1:
The patent segments the control system into two independent control units: one for the linear motion unit and another for the rotary unit. Each unit can be controlled separately with its own coordinate system and motion parameters. This segmentation reduces the complexity of coordinated control by breaking down the six-degree-of-freedom problem into two simpler three-degree-of-freedom control problems that can be solved independently.
4Adaptability or versatility
If the work device is designed with wide range of movement, then it can perform various tasks, but contact prevention function must be enhanced making the device expensive
Solution Approach 1:
The patent employs dynamic control strategies where the linear motion unit and rotary unit can be independently activated based on task requirements. For certain operations, only the linear unit needs to move while the rotary unit remains stationary, or vice versa. This dynamic activation pattern reduces the need for continuous monitoring and protection mechanisms, lowering the cost of contact prevention functions while maintaining task versatility.
Data Source
AI summary
A work device includes a work device body and a contact preventer. The work device body includes a linear motion unit having three degrees of freedom and a rotary unit having three degrees of freedom. An end effector is mounted on an output portion of the rotary unit. The contact preventer separates a working region in which the work device body is installed, from a non-working region outside the working region. The contact preventer includes: an entry allowing portion allowing an object to enter the working region therethrough; and an entry allowing portion entry detection sensor configured to detect entry of an object into the working region through the entry allowing portions.