Movable Hardstop Clearance Control for Robotic Arms
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Solution Overview
Problem
Existing robotic systems face inefficiencies due to motion limitations imposed by traditional control devices, which unnecessarily restrict the operation and fluidity of movable robotic components, affecting their performance and efficiency.
Innovation Solution
A movable hardstop system is integrated with a robotic arm, where a movable hardstop is actuated to maintain clearance during normal operation and block movement when undesired conditions occur, using a control system to coordinate the robotic arm and hardstop movements based on intended paths and environmental interactions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional control device is used to limit motion of the robotic arm, then protection of the robotic system is improved, but operation fluidity and performance are worsened due to unnecessary motion limitations
Solution Approach 1:
The hardstop is made movable rather than fixed, allowing it to dynamically adjust its position along the robotic arm's path. The hardstop controller moves the hardstop to track the desired path of the robotic arm, maintaining a clearance distance that adapts to changing operational conditions. This resolves the contradiction by providing protection only when necessary while allowing full operational fluidity during normal operation.
2Reliability
If a fixed hardstop is used to block undesired motion, then system protection is improved, but operational flexibility is worsened due to restricted movement range
Solution Approach 1:
The hardstop transitions from a static component to a dynamic one that can reposition itself. The hardstop controller receives information about the robotic arm's desired path and actual position, then moves the hardstop accordingly to maintain appropriate clearance. This enables the system to protect against undesired motion while adapting to different operational scenarios and maintaining flexibility.
Solution Approach 2:
The system implements feedback control where the hardstop controller continuously monitors the robotic arm's position and desired path, then adjusts the hardstop position based on this information. The clearance distance is maintained through feedback from position sensors, allowing the hardstop to respond to actual operational conditions rather than imposing fixed limitations.
3Productivity
If clearance is maintained between the hardstop and robotic arm during normal operation, then operational efficiency is improved, but protection capability is worsened when undesired motion occurs
Solution Approach 1:
The clearance distance is not fixed but dynamically adjusted based on operational conditions. During normal operation, the hardstop maintains a clearance distance that allows efficient robotic arm movement. When undesired motion is detected or the robotic arm deviates from its desired path, the hardstop moves to reduce or eliminate the clearance, providing protection capability when needed.
Solution Approach 2:
The system changes the parameter of clearance distance dynamically. The hardstop controller adjusts the clearance based on the robotic arm's position, desired path, and operational status. This allows the clearance to be optimized for efficiency during normal operation while being reduced for protection when undesired motion occurs, resolving the contradiction between these two requirements.
Data Source
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AI summary
A robotic system comprises a robotic arm and a movable hardstop disposed proximate to the robotic arm. The robotic system is configured to maintain a clearance between a first portion of the movable hardstop and a second portion of the robotic arm during a first operating condition. The movable hardstop is configured to block movement of the robotic arm during a second operating condition.