Inverse Kinematic Solution for Multi-Joint Link Mechanisms
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Solution Overview
Problem
The existing methods for creating teaching data for multi-joint link mechanisms are inefficient due to the impossibility of preparing geometric solutions for all possible mechanisms, leading to lengthy calculation times and operator burden when using forward transform methods for inverse kinematics.
Innovation Solution
An inverse kinematic solution that selects an open-loop link mechanism to derive the movement/rotation of joints for a desired position and pose, which are then set as fixed values to calculate the movement/rotation of joints in a closed-loop mechanism, allowing for quick calculation of joint movements in multi-joint link mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If forward transform method is used to create teaching data for multi-joint link mechanisms, then all possible mechanism structures can be handled, but calculation time becomes excessively long and operator burden increases
Solution Approach 1:
The patent segments the closed-loop link mechanism into an open-loop link mechanism (minimum link structure) and a loop mechanism. By separating the calculation into two stages - first solving the open-loop portion analytically, then handling the loop portion - the method achieves both speed and versatility. This segmentation allows the system to handle diverse mechanism structures while maintaining rapid calculation performance.
2Productivity
If geometric (analytical) solution is prepared for all multi-joint link mechanisms, then inverse transform calculation becomes efficient, but it becomes impossible to prepare all geometric solutions beforehand due to limitless combinations
Solution Approach 1:
The patent creates a universal inverse kinematic solution method that can handle any multi-joint link mechanism structure through a standardized two-stage approach. Instead of preparing specific geometric solutions for each mechanism type, the universal method automatically adapts to any structure by identifying the open-loop and loop components, thereby achieving high productivity without requiring exhaustive preparation of geometric solutions for all possible mechanisms.
3Adaptability or versatility
If iterative forward transform method is used to approximate inverse kinematics, then teaching data can be created for any mechanism, but the method places heavy burden on operator and consumes excessive calculation time
Solution Approach 1:
The patent replaces the iterative mechanical trial-and-error approach with an analytical calculation system. By substituting the iterative forward transform method with a two-stage analytical solution (open-loop analytical solution + loop mechanism calculation), the system eliminates operator burden while maintaining applicability to any mechanism structure. The analytical approach provides direct solutions rather than requiring iterative approximation.
Data Source
AI summary
This multi-joint link mechanism has a driving joint driven by a driving source and a follower joint driven by the movement of the driving joint. First, an open-loop link mechanism that allows the position and pose of a workpiece to be varied is selected from a multi-joint link mechanism. The amount of movement/rotation of each of the joints constituting the selected open-loop link mechanism is derived. The derived amounts of movement/rotation of each of the joints of the open-loop link mechanism are set as fixed values to derive the amount of movement/rotation of each of the joints of a closed-loop link mechanism composed of non-selected joints and at least some of the joints of the open-loop link mechanism.