Dual-Arm Robot Support Structure for Reduced Arm Vibration

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Solution Overview

Problem

Existing robots face challenges in reducing vibration in arm portions during work operations, particularly when handling objects with significant weight or those designed for one-handed use, which can lead to instability and increased motor size requirements.

Innovation Solution

A robot design featuring a first arm portion connected to a body portion for performing work and a second arm portion that is controlled to support the first arm portion, allowing for reduced vibration and increased output power without enlarging the motor, by dynamically determining support based on object weight and vibration sensing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If one arm portion performs work on a heavy object or object with handle, then the robot can handle the object, but strong vibration occurs in the arm portion

Engineering Contradiction:

Improveobject handling capabilityVSAvoidarm portion stability

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The patent combines multiple arm portions (first arm portion for work, second arm portion for support) to handle objects. The support arm portion provides additional stability and vibration reduction while the work arm performs operations, resolving the contradiction between handling capability and stability.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The robot system is segmented into distinct functional components: a work-performing arm portion and a support arm portion. This segmentation allows each component to specialize - one for manipulation, another for stabilization - thereby reducing vibration while maintaining handling versatility.

Inventive Principle:

Principle #1Segmentation

2Power

If the motor size is increased to handle heavier objects, then the robot can lift more weight, but the device size increases

Engineering Contradiction:

Improvelifting capacityVSAvoidmotor size

Core Design Contradiction:

PowerVSVolume of moving object

Solution Approach 1:

The patent merges the functions of lifting and stabilizing into a coordinated multi-arm system. The support arm portion shares the load and provides stabilization, allowing the motor to be smaller than what would be required for a single arm to handle the same weight alone.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The support arm portion acts as a counterbalancing element that offsets the weight and vibration forces experienced by the work arm. This counter-support mechanism reduces the power requirements of the main motor while maintaining lifting capacity.

Inventive Principle:

Principle #8Anti-weight (Counterweight)

Data Source

PatentUS11458632B2Robot having reduced vibration generation in in arm portion

Publication Date: 2022.10.04 SONY GROUP CORP

AI summary

There is provided a robot capable of reducing vibration generated in an arm portion performing work. The robot includes: a first arm portion connected to a body portion and configured to perform work; and a second arm portion connected to the body portion and to be controlled to support the first arm portion, in which the first arm portion includes a first connecting portion connected to the body portion, a first end effector located at an end of the first arm portion opposite to an end where the first connecting portion is located, and a support target portion located between the first connecting portion and the first end effector, and the second arm portion is controlled to support the support target portion.