Multi-Robot Part Assembly with Staged Rotational 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, which can lead to inefficiencies and computational complexity due to dynamic and kinematic factors.
Innovation Solution
A robot arrangement that separates rotational and translational alignment operations, first aligning rotationally and then translating a part into position, using multiple robots to collectively manipulate large-scale parts with improved accuracy and reduced computational requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If multiple robots collectively manipulate a large-volume part to achieve high positional accuracy, then manufacturing precision is improved, but device complexity increases due to the need for coordinated control of multiple robots
Solution Approach 1:
The alignment process is segmented into two distinct phases: rotational alignment and translational alignment. During rotational alignment, robots adjust the part's orientation to match the assembly position. During translational alignment, robots move the part to the final position while maintaining fixed orientation. This segmentation simplifies the control complexity while achieving high positional accuracy.
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 subsequent translational movement becomes a simpler, constrained operation that maintains the achieved orientation while achieving final positional accuracy.
2Productivity
If robots perform both rotational and translational movements simultaneously to position a part, then assembly speed is improved, but manufacturing precision deteriorates due to part deformation from simultaneous operations
Solution Approach 1:
The positioning operation is divided into sequential segments: first rotational alignment, then translational alignment. This prevents the part from undergoing both types of deformation simultaneously, reducing cumulative deformation effects while maintaining acceptable assembly speed through efficient sequential execution.
Solution Approach 2:
Rotational alignment is completed as a preliminary step before translational alignment begins. This ensures the part is properly oriented before final positioning, preventing orientation errors during translation and ensuring high positional accuracy in the final assembly position.
3Manufacturing precision
If robots perform rotational alignment close to the fixed part to achieve high accuracy, then manufacturing precision is improved, but the risk of harmful factors increases due to potential part clash with the fixed part
Solution Approach 1:
The alignment process separates rotational and translational operations into distinct phases with distinct spatial zones. Rotational alignment occurs in a coarse adjustment zone at a safe distance from the fixed part, eliminating clash risk. Translational alignment then moves the part into the fine adjustment zone close to the fixed part, where the part is already properly oriented and less likely to clash.
Solution Approach 2:
Rotational alignment is performed in advance at a safe distance from the fixed part, establishing the correct orientation before the part is moved into the proximity zone. This preliminary orientation adjustment prevents clash during the subsequent translational movement into the fine adjustment zone.
Data Source
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AI summary
A robot arrangement, comprising: one or more robots for moving a component into an assembly position adjacent a fixed structure, wherein 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, wherein 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.