Actuated Reaction Mass Isolation for Robotic Vibration Errors
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Solution Overview
Problem
Robotic systems face imprecision and poor processing results due to vibrations and disturbances, necessitating improved vibration isolation systems to reduce movement errors in applications like laser processing and tool manipulation.
Innovation Solution
The use of actuable reaction masses coupled with actuators to move the reaction mass in a corrective direction, reducing movement errors by applying reaction forces and rotational reaction torques, with detection systems and controllers to manage these movements effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If robotic systems operate without vibration isolation, then device complexity is reduced, but manufacturing precision and measurement precision deteriorate due to vibrations and disturbances
Solution Approach 1:
The vibration isolation system is divided into separate functional modules: reaction masses, actuators, sensors, and controllers. Each component operates independently but coordinates through control signals, allowing the system to address vibrations without requiring complete system redesign.
Solution Approach 2:
Reaction masses serve as intermediary elements between the robotic system and vibrations. These masses, when actuated, generate counter-forces that cancel vibrations without directly modifying the robotic structure or payload, thus maintaining simplicity while improving precision.
2Measurement precision
If actuators move reaction masses to counteract vibrations, then movement precision improves, but energy consumption increases
Solution Approach 1:
The actuator operates periodically rather than continuously, activating only when vibration counteraction is needed. The controller monitors system vibrations and triggers actuator operation selectively, reducing overall energy consumption while maintaining position accuracy during critical operations.
Solution Approach 2:
The system dynamically adjusts actuator parameters such as force magnitude and frequency based on real-time vibration conditions. By matching actuator output to actual vibration levels, the system minimizes energy consumption while effectively counteracting disturbances that affect position accuracy.
3Reliability
If reaction masses are added to the system, then vibration isolation effectiveness improves, but system weight increases
Solution Approach 1:
The reaction masses are integrated into the robotic system's dynamic model and controlled through dynamic compensation. Rather than being static added weight, these masses are actively manipulated to generate counter-forces, maximizing vibration isolation effectiveness relative to their weight.
Solution Approach 2:
The reaction masses function as dynamic counterweights that generate forces opposing vibrations. By positioning and actuating these masses strategically, the system achieves effective vibration cancellation with minimal additional mass, as the counteracting force depends on mass acceleration rather than mass alone.
4Manufacturing precision
If multiple sensors and actuators are integrated for comprehensive vibration control, then vibration isolation performance improves, but device complexity increases
Solution Approach 1:
The control system architecture is designed to be universal, with the same controller and actuator types handling multiple vibration isolation tasks across different robotic operations. This multi-functionality approach allows comprehensive vibration control without proportionally increasing system complexity.
Solution Approach 2:
Sensors continuously monitor vibrations and feed this information back to the controller, which adjusts actuator commands in real-time. This closed-loop feedback mechanism enables effective vibration isolation with a coordinated system of sensors and actuators, managing complexity through systematic control rather than isolated components.
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
This approach effectively isolates payloads from vibrations and disturbances, enhancing precision and stability in robotic systems by actively counteracting movement errors and resonances.
Implementation Method 1
The actuator is configured to move the reaction mass in response to a movement error of the payload to reduce the movement error of the payload
Implementation Method 2
the actuator is a linear actuator configured to translate the reaction mass along a linear direction corresponding to the corrective direction of the movement error to produce a reaction force
Implementation Method 3
the actuator comprises a rotary actuator configured to rotate the reaction mass about an axis of rotation to produce a rotational reaction torque along the corrective direction of the movement error
Implementation Method 4
Vibration isolation system (VIS) modules, apparatus, and methods are disclosed that use actuatable reaction masses to reduce or eliminate vibrational movement errors of payloads
Data Source
AI summary
Apparatus include a reaction mass and an actuator coupled to the reaction mass. The actuator is configured to couple to a payload and to move the reaction mass in response to a movement error of the payload to reduce the movement error of the payload. Robotic systems using actuated reaction masses, as well as related methods of reducing movement errors, are also disclosed.