Coordinated Parallel Kinematic Robots for Collision Avoidance
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Solution Overview
Problem
Current handling systems for objects like containers in packaging and palletizing processes lack the flexibility and extended functionality to efficiently manage diverse handling tasks, particularly when using parallel kinematic robots, which are limited by their individual working ranges and angles of rotation.
Innovation Solution
The arrangement and method for combining two or more parallel kinematic robots in a networked or spatially coupled configuration, allowing for a compound robot with extended handling capabilities, where each robot has independently movable actuating arms and manipulators that can be equipped with different actuators, enabling varied and overlapping working areas for enhanced manipulation and tool functions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple parallel kinematic robots are positioned close together to expand working area, then the handling capability and flexibility are improved, but the risk of collision between robots increases
Solution Approach 1:
The control system continuously monitors the positions and movements of all robots in real-time, using feedback signals to detect potential collision risks and adjust robot trajectories dynamically to prevent collisions while maintaining coordinated operation
Solution Approach 2:
The system employs dynamic motion planning where robot paths and speeds are continuously adjusted based on real-time position data, allowing robots to adapt their movements dynamically to avoid collisions while completing handling tasks
2Adaptability or versatility
If the working areas of multiple robots overlap to increase flexibility, then the range of tasks that can be performed is improved, but the coordination complexity between robots increases
Solution Approach 1:
The overlapping working area is divided into discrete zones with assigned responsibilities for each robot, allowing independent control within segments while maintaining coordinated operation across the entire system
Solution Approach 2:
The control system implements a universal coordination framework that can manage multiple robots with different functions and capabilities, allowing each robot to perform multiple tasks while maintaining systematic coordination through standardized communication protocols
3Device complexity
If parallel kinematic robots are used with limited individual working ranges, then the system structure is simplified, but the overall handling range is restricted
Solution Approach 1:
Multiple parallel kinematic robots with identical or similar simplified structures are combined in a networked configuration, where each robot maintains its simple structure but the collective system achieves extended handling range through coordinated operation and overlapping working areas
Data Source
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AI summary
An arrangement (10) is disclosed which comprises at least two parallel kinematic robots (12A, 12B) located in close proximity to each other, whose working areas overlap and form an overall working area that covers a larger area and/or volume than the individual working areas of each of the parallel kinematic robots (12A, 12B). The motion controls of manipulators (16) or tool carriers (26), each movably suspended from actuator arms (20) of the at least two parallel kinematic robots (12A, 12B), are coordinated with each other and/or coupled with each other, taking into account the control commands for the movements of the respective other manipulator (16) or tool carrier (26), in order to form a coordinated motion and/or handling profile within the overall working area and/or to avoid collisions of the respective actuator arms (20), manipulators (16) and/or tool carriers (26).The invention also relates to a method for using and controlling at least two parallel kinematic robots (12A, 12B) located in close proximity to each other, whose working areas overlap and form an overall working area.