Modular Motion Analysis for Hexapod Vibration and Force Control
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Solution Overview
Problem
Complex motion analysis systems, such as hexapods and articulated arms, face challenges in maintaining high positioning accuracy and avoiding collisions, especially in dynamic production environments, where existing solutions lack adaptability to changing operational situations.
Innovation Solution
A modular motion analysis device with vibration and force analysis modules based on inert point masses, which includes load change modeling and trajectory correction units, to analyze and control movements and simulate movement paths, ensuring adaptability and accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a complex motion analysis system is used to ensure high positioning accuracy and collision avoidance, then positioning accuracy and safety are improved, but the system complexity and computational burden increase
Solution Approach 1:
The motion analysis device is divided into separate functional modules: a vibration analysis module for determining natural vibration modes and a force analysis module for determining acceleration forces, weight forces, and torques. This modular segmentation allows each module to specialize in specific calculations, improving positioning accuracy while managing system complexity through organized functional decomposition.
Solution Approach 2:
The system performs preliminary determination of natural vibration modes and forces before actual motion execution. By pre-calculating vibration characteristics and force requirements based on inertial point masses, the system can adjust trajectories in advance to avoid resonances and overloads, achieving high positioning accuracy without requiring overly complex real-time computation.
2Adaptability or versatility
If the system is designed to be highly adaptable to changing operational situations, then versatility and response to dynamic environments are improved, but the device complexity increases
Solution Approach 1:
The system dynamically adapts to changing operational situations by continuously analyzing vibration modes and forces based on current trajectory and load conditions. The vibration analysis module and force analysis module work together to detect changes in operational parameters and adjust the motion analysis accordingly, providing high adaptability through dynamic recalculation rather than static pre-programming.
Solution Approach 2:
The system achieves adaptability by changing key parameters such as natural vibration modes, acceleration forces, and torques based on the current operational state. By recalculating these parameters when operational situations change and using inertial point masses to represent varying loads, the system can respond to dynamic environments without requiring a completely different system architecture.
3Reliability
If detailed vibration and force analysis is performed to prevent collisions and maintain accuracy, then positioning accuracy and safety are improved, but the computational time and processing requirements increase
Solution Approach 1:
The system replaces complex mechanical analysis with a simplified model using inertial point masses to represent bodies and loads. Instead of performing detailed finite element analysis or complex mechanical simulations, the system uses point mass representations to calculate vibration modes and forces, significantly reducing computational time while maintaining sufficient accuracy for collision avoidance and positioning control.
Solution Approach 2:
The system creates simplified copies of the actual mechanical system in the form of inertial point masses that replicate the essential dynamic characteristics without requiring full geometric and material detail. This copying approach allows rapid calculation of vibration modes and forces, reducing computational time while preserving the key information needed for reliable motion analysis and collision prevention.
Data Source
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AI summary
The invention relates an apparatus for analysing movement of an arrangement made of a plurality of bodies assigned to a platform, of which at least one is provided with a drive, in particular of the hexapod type or of the articulated arm type, having means for vibration analysis and/or force analysis. According to the invention, the apparatus has in a modular construction a vibration analysis module for analytically determining natural vibration modes of the bodies and/or of the platform in respect of at least one of the following variables: frequency, centre of rotation of the torsional component of the vibrations, axis of rotation of torsional vibration, displacement vector of a Cartesian vibration, amplitude ratio of the vibrations in relation to one another, and/or a force analysis module for analytically determining the acceleration forces and/or weights and/or torques, occurring on a predetermined trajectory, in respect of the bodies and/or the platform.