Double-Acting Kinematic Mount for Robotic Tool Alignment
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Solution Overview
Problem
Robotic manipulator systems face challenges in achieving high accuracy and efficiency during precise object retrieval and placement, as existing methods like visual servoing are time-consuming, while fixed-location operations lack the necessary precision, leading to errors in manufacturing processes.
Innovation Solution
A double-acting kinematic mount is introduced, comprising a semi-floating and a fixed structure coupled by a preloading force, allowing the semi-floating structure to move independently during object retrieval and placement, enhancing alignment accuracy and efficiency by decoupling under specific forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If visual servoing is used for precise object retrieval and placement, then manufacturing precision is improved, but productivity deteriorates due to time-consuming operations
Solution Approach 1:
The kinematic mount transitions from a static rigid connection to a dynamic adaptive system that can decouple and recouple based on operational needs. The semi-floating structure allows controlled movement relative to the fixed structure when forces exceed the preloading force, enabling real-time adaptation to object positioning requirements without time-consuming visual servoing operations.
Solution Approach 2:
The system changes the mechanical coupling parameter between the semi-floating and fixed structures based on applied forces. When the force from object retrieval or placement exceeds the preloading force, the coupling state changes from connected to decoupled, allowing the system to adapt its rigidity level to match operational requirements and achieve high precision without time loss.
2Productivity
If fixed-location operations are used for robotic manipulator systems, then productivity is improved, but manufacturing precision deteriorates due to alignment errors
Solution Approach 1:
The kinematic mount performs self-alignment through its mechanical design. The semi-floating structure automatically adjusts its position relative to the fixed structure based on the applied forces during object retrieval and placement, eliminating the need for external alignment systems or visual servoing while maintaining high precision without sacrificing productivity.
3Stability of the object's composition
If a rigid connection is used between robotic manipulator and end-of-arm tooling, then structural stability is improved, but adaptability deteriorates during object retrieval and placement
Solution Approach 1:
The connection system dynamically adjusts its rigidity based on operational requirements. During normal operation, the preloading force maintains a rigid connection for stability. During object retrieval and placement, when forces exceed the preloading force, the connection decouples to allow adaptive alignment, then recouples to restore rigidity, thus providing both stability and adaptability as needed.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The kinematic mount achieves positional accuracy up to ±1 μm, combining the precision of visual servoing with the efficiency of fixed-location operations, mitigating errors and improving manufacturing time efficiency without increasing complexity or power consumption.
Implementation Method 1
The top floating structure and the second plate may be coupled together by a preloading force (e.g., provided by a spring or a magnet)
Implementation Method 2
The top floating structure and the second plate may be coupled together by a preloading force (e.g., provided by a spring or a magnet)
Implementation Method 3
The top floating structure and the second plate may be coupled together by a preloading force (e.g., provided by a spring or a magnet)
Data Source
AI summary
Methods, systems, devices, and apparatuses that support techniques for material hand-off using a double-acting kinematic mount are described. A kinematic mount may be mounted between a flange of a robotic manipulator and with a tool for retrieval and placement of an object. The kinematic mount may include a first sub-component and a second sub-component, where a floating structure of the first sub-component may be coupled with a plate of the second sub-component by a preloading force (e.g., via one or more springs, magnets). The kinematic mount may be configured such that the floating structure may be decoupled from the plate of the second sub-component when a force greater than the preloading force is applied to a bottom plate of the first sub-component. The first sub-component may move independently of the second sub-component while decoupled, allowing the tool to align to the object during retrieval and placement.