Mechanical Arm Escape Control With Staged Brake Release
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Solution Overview
Problem
Mechanical arms often get stuck in a dead center due to collisions or abnormal operations, rendering them unable to move forward or return to their previous position.
Innovation Solution
A control system and drive circuit board that determine if a mechanical arm needs to escape by monitoring power status, staggering brake release timing to reduce power consumption, and adjusting motor rotation speed and braking force to safely move the arm out of the dead center.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the mechanical arm is moved to escape from dead center, then the mechanical arm can restore normal operation, but power consumption increases
Solution Approach 1:
The escape process is divided into multiple stages with different brake release timings. The controller releases brakes of joint modules sequentially rather than simultaneously, segmenting the power consumption demand. This allows the mechanical arm to escape from dead center while managing peak power consumption through staged brake release.
2Ease of operation
If the braking force is increased to control the mechanical arm, then the mechanical arm can be controlled more precisely, but the operator safety is compromised
Solution Approach 1:
The braking force is made dynamic rather than static. The controller adjusts the braking force of joint modules in real-time based on the mechanical arm's rotation speed and position. When the mechanical arm approaches the dead center, the braking force is automatically reduced to ensure operator safety, while maintaining precise control during normal operation.
Solution Approach 2:
The system implements feedback control by monitoring the rotation speed of the motor module and using this information to adjust the braking force. The encoder detects the mechanical arm's position and speed, and the controller uses this feedback to dynamically adjust brake release timing and force, ensuring both control precision and operator safety.
3Speed
If all brakes are released simultaneously to enable mechanical arm movement, then the escape process is faster, but power consumption increases
Solution Approach 1:
The brake release process is segmented into sequential stages rather than a single simultaneous action. Different joint modules have different brake release timings, creating a staged escape process that reduces peak power consumption while still achieving the escape objective.
Solution Approach 2:
The brake release follows a periodic pattern with different timing for different joint modules. The controller implements periodic brake release sequences where brakes are released in a predetermined order, creating a rhythm that balances speed and power consumption.
Data Source
AI summary
A control system of a mechanical arm is provided. The control system includes a first transform circuit, a second transform circuit and a third transform circuit. The first transform circuit outputs a first digital power signal in a first mode of the mechanical arm. The second transform circuit outputs a second digital power signal in the first mode of the mechanical arm. When the control system is unable to control the mechanical arm to move in the first mode, the second digital power signal is cut off. When the control system is unable to control the mechanical arm to move in the first mode, the third transform circuit outputs a third digital power signal.