Dual-Arm Work Unit Layout for Fast Precise End-Effector Control
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Solution Overview
Problem
Existing multi-articulated robot work devices face challenges in performing delicate tasks at high speed due to complex motor coordination requirements, large movement ranges, and the need for extensive barriers to prevent collisions, making them difficult to operate without experience and costly to implement, 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 rotation unit with three degrees of freedom, allowing precise position and posture control of the end effector using separate linear motion actuators and rotation mechanisms, enabling compact design and easy operation without extensive knowledge or experience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If six rotation mechanisms are combined to achieve six degrees of freedom, then the work device can perform various movements, but the coordination of multiple motors becomes complex and delicate works cannot be performed at high speed
Solution Approach 1:
The patent divides the six degrees of freedom into two independent units: a linear motion unit with three linear motion actuators and a rotation unit with three rotation mechanisms. This segmentation separates position control from posture control, reducing the coordination complexity while maintaining full six-degree-of-freedom capability.
2Ease of operation
If the posture of the end effector is slightly changed, then the movement amounts of the wrist joint and arm become large, but this increases the likelihood of contact with nearby objects and requires larger barriers
Solution Approach 1:
By separating the linear motion unit (position) from the rotation unit (posture), the patent allows independent adjustment of end effector posture without requiring large movements of the entire arm. The rotation unit can achieve posture changes locally at the wrist, reducing the need for large barriers.
3Reliability
If the range of possible movement is made wide to prevent contact with humans or objects, then safety is improved, but the occupation area increases and cost increases
Solution Approach 1:
The patent employs a Cartesian coordinate system-based control method that dynamically calculates movement paths to avoid obstacles and humans. This allows the device to maintain a compact physical structure while achieving safe operation through intelligent motion planning that adapts to the environment.
4Reliability
If barriers are enhanced to prevent contact, then safety is improved, but workers remain anxious and coexistence with humans becomes difficult
Solution Approach 1:
The patent uses dynamic motion control based on Cartesian coordinates to enable smooth, predictable movements that can be programmed to avoid humans and objects. This reduces the need for physical barriers and creates a more comfortable environment for human workers while maintaining safety.
5Reliability
If work is performed at reduced motion speed or limited motion range to prevent contact, then safety is improved, but the capability of the device cannot be sufficiently exhibited
Solution Approach 1:
The patent implements dynamic motion planning that allows the device to operate at high speeds when the environment is clear, while automatically reducing speed or adjusting paths when humans or objects are detected. This maintains both safety and full productivity capability.
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A work device (1) is configured to perform a work with use of an end effector (5) and have six degrees of freedom. The work device (1) including: a linear motion unit (3) obtained by combining three linear motion actuators (11, 12, 13), to have three degrees of freedom; and a rotation unit (4) obtained by combining a plurality of rotation mechanisms (21, 22, 23) each having one or more degrees of rotational freedom, to have three degrees of freedom. A base portion of the linear motion unit (3) is fixed to a mount (2). A base portion of the rotation unit (4) is fixed to an output portion (13a) of the linear motion unit (3). The end effector (5) is mounted to an output portion (23a) of the rotation unit (4).