Pneumatic Actuator Weight Compensation for Robot Placement
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Solution Overview
Problem
Conventional industrial robots struggle with gentle positioning and stacking of objects due to variations in dimensions and tolerances, often resulting in collisions or objects being dropped, especially when precise end-point control is required without complex sensor systems.
Innovation Solution
A method and apparatus utilizing a manipulator with an actuator between the robot and the object, where the actuator force compensates the object's weight, allowing for adjustable minimal force and monitoring deflection to ensure safe placement without measuring the exact placement position, using a pneumatic or electrical actuator with minimal static friction to regulate the force and detect contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional industrial robots use predefined trajectories with exact end-point control, then positioning precision is improved, but the system cannot accommodate dimensional variations and tolerances in objects, leading to collisions or drops
Solution Approach 1:
The robot control monitors the actual position of the tool center point during movement and compares it with the planned trajectory. When deviations are detected (caused by dimensional variations in objects), the control automatically adjusts subsequent movements to compensate for these deviations, enabling gentle placement without collisions or drops
Solution Approach 2:
The system transitions from static predefined trajectories to dynamic trajectory adjustment. The robot program is executed flexibly, allowing real-time modifications to the motion path based on actual object dimensions and positions, enabling adaptation while maintaining precision
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables robust and gentle object placement, preventing collisions and drops by compensating for dimensional variations and tolerances, allowing for precise force regulation and safe handling without requiring precise end-point control or additional sensor systems.
Implementation Method 1
the actuator force compensates the weight of the object or with the actuator force being regulated such that an adjustable minimal net actuator force acts on an end stop of the actuator
Implementation Method 2
The deflection of the actuator is furthermore monitored and a change of the deflection is detected. The movement of the manipulator is stopped upon detection of a change of the deflection of the actuator
Data Source
AI summary
An apparatus includes a manipulator, a pneumatic actuator and a robot control. The pneumatic actuator is coupled to the manipulator such that the pneumatic actuator is arranged between the manipulator and an object to be positioned. The robot control is configured: to control the pneumatic actuator such that an actuator force of the pneumatic actuator approximately compensates a weight force of the object; and to monitor the actuator position of the pneumatic actuator and initiate safety measures when the actuator position exceeds a predefined value. Methods of operating the manipulator and the pneumatic actuator are also described.