Movable Hybrid Machining Robot with Force-Controlled Parallel Module
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional machining technologies face challenges in processing large and complex structural parts, such as wind turbine blades, due to size limitations and maintenance issues, requiring a more efficient and adaptable solution for high-quality surface processing.
Innovation Solution
A movable hybrid machining robot equipped with a three-degree-of-freedom force-controlled parallel module, combining an automated guided vehicle, linear guide rail, and a planar two-degree-of-freedom hybrid robotic arm, which includes a three-degree-of-freedom force-controlled parallel machining module to control translational and rotational movements and apply force to an end effector, expanding the workspace and ensuring processing quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional machine tools are used for processing large structural parts, then processing precision can be maintained, but the machine tool size increases significantly leading to high maintenance costs
Solution Approach 1:
The robot system is divided into modular components: automated guided vehicle for positioning, linear guide rail for stable support, planar two-degree-of-freedom hybrid robotic arm for positioning, and three-degree-of-freedom force-controlled parallel module for precise motion control. This segmentation allows each module to be optimized independently while maintaining overall processing precision without requiring a monolithic large machine tool structure
Solution Approach 2:
The patent replaces traditional large machine tool mechanical structures with a robotic system combining automated guided vehicle and multi-degree-of-freedom robotic arms. The force-controlled parallel module substitutes conventional position control mechanisms, enabling precise machining operations without the bulky mechanical structure of traditional machine tools
2Adaptability or versatility
If the robot workspace is expanded to process large structural parts, then adaptability improves, but processing quality may deteriorate
Solution Approach 1:
The system applies different control strategies to different parts of the robot system: the automated guided vehicle and linear guide rail provide stable positioning for large workspace coverage, while the three-degree-of-freedom force-controlled parallel module provides high-precision local control at the end effector. This local quality differentiation allows the system to maintain processing quality across the entire expanded workspace
Solution Approach 2:
The force-controlled parallel module dynamically adjusts stiffness and damping characteristics based on processing requirements. The spring-damper system provides adaptive force control that maintains consistent processing quality whether the end effector is at the center or periphery of the workspace, enabling high-quality processing across the entire enlarged workspace range
3Manufacturing precision
If force control is applied to the end effector to ensure processing quality, then manufacturing precision improves, but device complexity increases
Solution Approach 1:
The force-controlled parallel module serves multiple functions simultaneously: it provides position control for workspace coverage, force control for processing quality, and passive compliance for adapting to workpiece variations. The spring-damper system acts as both a force control actuator and a compliance mechanism, reducing the need for separate control systems and simplifying the overall device complexity while maintaining high manufacturing precision
Data Source
AI summary
A movable hybrid machining robot is provided based on a three-degree-of-freedom force-controlled parallel module. In one example, the robot comprises: an automated guided vehicle (III-11) configured to ensure a large moving stroke of the robot; a linear guide rail (III-12) configured to control movement of the hybrid robot when the automated guided vehicle (III-11) is parked; a planar two-degree-of-freedom hybrid robotic arm configured to control in-plane two-degree-of-freedom motion, wherein the in-plane two-degree-of-freedom motion is driven by a motor on a base (21); and a three-degree-of-freedom, force-controlled parallel machining module (I) configured to control one translational degree of freedom and two rotational degrees of freedom and to control positive pressure on an end effector (564).