Manipulator Rotation Center Calculation Without External Sensors
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional methods for calculating the rotation center point of a rotor and the axis of rotation connecting two rotors require external photographic devices, making the process complex and lacking precision, and do not utilize manipulators effectively.
Innovation Solution
A method using a manipulator to calculate the rotation center point and axis of rotation by obtaining location information before and after rotating a plane of rotation, allowing for the calculation of these points without external devices, and enabling higher precision by measuring two planes of rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If an external photographic device is used to photograph the mark on the rotor before and after rotation, then the rotation center point can be calculated, but the system becomes complicated
Solution Approach 1:
The patent extracts the measurement function from external photographic devices and integrates it into the manipulator's own sensing capabilities. The manipulator uses its built-in sensors to detect the mark position on the rotor at different angular positions, eliminating the need for separate external photography equipment while maintaining measurement accuracy.
Solution Approach 2:
The manipulator is designed to perform multiple functions: it not only rotates the rotor but also measures the mark position using its integrated sensors. This multi-functionality reduces the number of separate devices needed, simplifying the overall system while preserving the ability to accurately calculate the rotation center point.
2Ease of manufacture
If conventional methods are used to calculate rotation center point, then the calculation can be performed, but external photographic devices are required making the process complex
Solution Approach 1:
The manipulator performs self-measurement by using its own sensing systems to detect the mark position on the rotor. This self-service approach eliminates the need for external photographic devices and simplifies the manufacturing process, as the manipulator is already equipped with the necessary sensing capabilities to perform both rotation and measurement functions.
3Measurement precision
If only one plane of rotation is measured, then the process is simpler, but the precision of axis of rotation calculation is reduced
Solution Approach 1:
The patent extends the measurement from a single plane of rotation to multiple planes by rotating the rotor to different angular positions and measuring the mark position in each plane. This dimensional expansion allows for more accurate calculation of the axis of rotation by providing multiple data points that constrain the possible positions of the rotation center, thereby improving precision without requiring additional external equipment.
Data Source
AI summary
Calculating a rotation center point on a plane of rotation of a positioning device by using a manipulator. The positioning device positions a workpiece by rotating the plane of rotation. The calculating includes a first step of obtaining location information of a predetermined position on the plane of rotation, a second step of rotating the plane of rotation of the positioning device 180 degrees, a third step of obtaining location information of the predetermined position on the 180-degree rotated plane of rotation, and a fourth step of calculating a point bisecting a straight line as the rotation center point of the plane of rotation of the positioning device from the location information obtained in the first step and the location information obtained in the third step, the straight line connecting the predetermined position of the first step and the predetermined position of the third step.