Multi-Robot Part Assembly With Rotational-Then-Translational Alignment
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Solution Overview
Problem
The assembly of large structures, such as aircraft parts, faces challenges in achieving rotational and positional accuracy, particularly when manipulated by multiple robots, due to computational complexity and potential deformation, which can lead to inefficiencies and risks of collision.
Innovation Solution
A robot arrangement that separates rotational and translational alignment operations, first aligning rotationally and then translating the part into position, using multiple robots to enhance precision and reduce computational requirements, with fine adjustment zones for precise alignment and temporary fasteners for securement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple robots are used to manipulate large parts, then positioning capability is improved, but computational complexity and risk of deformation increase
Solution Approach 1:
The alignment process is segmented into two distinct phases: rotational alignment and translational alignment. This segmentation simplifies the computational complexity by breaking down the complex positioning task into manageable stages, where each stage focuses on a specific aspect of alignment rather than attempting to solve all positioning problems simultaneously.
Solution Approach 2:
Rotational alignment is performed as a preliminary action before translational alignment. By first establishing the correct orientation of the part through rotational adjustments, the system prepares the part for subsequent precise translational movement, reducing the overall computational burden and improving positioning accuracy.
2Productivity
If rotational and translational alignment are performed simultaneously, then assembly speed is improved, but positional accuracy and part deformation risk worsen
Solution Approach 1:
The alignment operations are segmented into sequential rotational and translational phases rather than being performed simultaneously. This segmentation ensures that each alignment aspect is completed with sufficient precision before moving to the next phase, preventing part deformation while maintaining efficient assembly throughput.
Solution Approach 2:
Rotational alignment is executed as a preliminary action before translational alignment begins. This preliminary rotational positioning ensures the part is correctly oriented, allowing subsequent translational movements to achieve high positional accuracy without causing deformation, thereby maintaining both speed and precision in the assembly process.
3Manufacturing precision
If high positional accuracy is achieved through complex computational methods, then assembly precision is improved, but assembly efficiency and speed worsen
Solution Approach 1:
The alignment computation is segmented into rotational and translational components, with each component handled by specialized algorithms optimized for its specific purpose. This segmentation improves assembly precision by addressing each alignment aspect with appropriate computational methods while maintaining efficiency through focused, rather than overly complex, calculations.
Solution Approach 2:
Rotational alignment computations are performed as a preliminary step before translational alignment. This preliminary computational phase establishes the correct orientation using optimized rotational algorithms, allowing subsequent translational computations to be simpler and faster, thereby achieving high assembly precision without excessive computational overhead that would reduce efficiency.
4Adaptability or versatility
If robots perform both rotational and translational movements, then positioning flexibility is improved, but risk of part clash and deformation increases
Solution Approach 1:
The robot's positioning operations are segmented into rotational movement phase and translational movement phase. During the rotational phase, robots focus solely on orientation adjustments, and during the translational phase, they focus on positional adjustments. This segmentation maintains positioning flexibility while reducing the risk of clash and deformation by avoiding simultaneous complex movements that could cause harmful interactions.
Solution Approach 2:
Rotational positioning is performed as a preliminary action before translational positioning begins. This preliminary rotational adjustment establishes the correct orientation and safe configuration of the part, allowing subsequent translational movements to proceed without risk of clash or deformation, thereby maintaining versatility while eliminating harmful effects.
Data Source
AI summary
A robot arrangement is disclosed including one or more robots for moving a component into an assembly position adjacent a fixed structure. The robots are configured to operate collectively to move the component from an initial position located in a coarse adjustment zone into a fine rotational adjustment zone within a set distance of the fixed structure. The coarse adjustment zone is at least the set distance from the fixed structure; and in the fine rotational adjustment zone, robots are configured to collectively perform a rotational alignment cycle to rotationally align the component with the assembly position of the component ready for joining the component to the fixed structure and, upon completion of the rotational alignment cycle, collectively perform a translational movement to move the component into the assembly position.