Link Actuator Height Input Control for 3D End Positioning
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Solution Overview
Problem
Existing link actuating devices struggle with efficiently changing the distal end posture in the height direction for three-dimensional workpieces, as they require two-dimensional coordinate input, making it difficult to understand and perform operations like coating on cylindrical workpieces.
Innovation Solution
An operation device that allows direct input of the height direction movement or coordinate position through a height direction target value input unit, which calculates the necessary bend angle and angle of swing, and converts this into command operation amounts for actuators to change the distal end posture, facilitating intuitive and speedy operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If two-dimensional coordinate input is used for positioning the end effector, then the device can be operated with a simple interface, but it becomes difficult to understand and perform operations on three-dimensional workpieces, increasing operation time
Solution Approach 1:
The patent introduces a height direction target value input unit that allows direct input of Z-coordinate values, transforming the operation interface from two-dimensional to three-dimensional. This enables operators to directly specify height positions without complex coordinate calculations, making 3D workpiece operations as intuitive as 2D operations while reducing operation time
2Device complexity
If two-dimensional coordinate input is required, then the control system remains simple, but operations like coating on cylindrical workpieces become difficult to understand and perform
Solution Approach 1:
The patent segments the coordinate input function into three independent direction input units (X, Y, and Z directions). Each unit handles one dimension separately, allowing operators to intuitively control the end effector's position in 3D space. This segmentation maintains control system simplicity while dramatically improving ease of operation for 3D workpieces
3Loss of time
If direct height direction input is implemented, then operation time is reduced and intuitiveness is improved, but the control system complexity increases
Solution Approach 1:
The control system is designed with universal functionality to process target values from all three direction input units simultaneously. The control unit integrates X, Y, and Z coordinate inputs to calculate the complete end effector position and posture, managing the increased complexity through a unified multi-functional control architecture that handles 3D positioning as a single integrated operation
Data Source
AI summary
An operation method for a link actuating device provided with a target value input unit having a height direction target value input portion that allows input of a movement amount in a height direction or a coordinate position in the height direction, which causes the distal end posture of the link actuating device to be changed only in the height direction along a central axis of a proximal end side link hub. An input converter is provided to calculate, by using an inputted value, a target distal end posture of the link actuating device. The input converter further calculates a command operation amount of each actuator from the result of the calculation, and inputs the command operation amount to the control device.